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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00018/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00018/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d09bdbde11320cd0ac0416696d10d53b8d56b593 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00018/resolved_config.yaml @@ -0,0 +1,215 @@ +name: fast_2beaker_central_longmix_s03_psl_knn_00018 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. + layout_id: layout_00018 + reproducibility: + enabled: true + layout_id: layout_00018 + action_seed: 1406198025815128196 + step_seeds: + - 1189232163589316561 + - 5905876406370859880 + - 6158217288182197642 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2707 + - 0.2707 + 'y': + - -0.1851 + - -0.1851 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.27 + - 0.27 + 'y': + - 0.0409 + - 0.0409 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2451 + - 0.2451 + 'y': + - 0.2123 + - 0.2123 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00018 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00018/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00018/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5008377820e1094bbf26b37ff2360cfab254a76f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00018/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2944660496749229, + -0.17841713820623062, + 1.0521888928035446 + ], + "current_z": 1.0521888928035446, + "required_z": 0.8611066230992567, + "initial_z": 0.7611066230992567, + "lift_margin": 0.19108226970428788, + "gripper_z": 1.0550030747673502, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29076745674701726, + -0.1825054845136838, + 1.0550030747673502 + ], + "object_minus_gripper": [ + 0.0036985929279056418, + 0.0040883463074531945, + -0.002814181963805673 + ], + "object_to_gripper_xy": 0.005513090347166441, + "object_to_gripper_z": -0.002814181963805673, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2944660496749229, + -0.20190235357546985, + 1.0521888928035446 + ], + "finger_b": [ + 0.2838579901565621, + -0.17841713820623062, + 1.0521888928035446 + ], + "finger_midpoint": [ + 0.28916201991574253, + -0.19015974589085022, + 1.0521888928035446 + ], + "object_minus_finger_midpoint": [ + 0.005304029759180373, + 0.0117426076846196, + 0.0 + ], + "finger_gap": 0.02576987131680396, + "fingertip_max_gap": 0.09574033923652928, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012884935658401956, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0521888928035446, + "object_top_z": 1.104177633042629, + "finger_top_clearance": 0.0519887402390844, + "fingertip_min_top_clearance": 0.015596622071725318, + "object_projection_between_fingers": 0.830547728177803, + "object_to_finger_line_xy": 0.009667590473218902, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05037016961826464, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2340731221177292, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00019/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00019/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5f54c1aaa013628f32c6b6ee3131041636fe4c1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00019/resolved_config.yaml @@ -0,0 +1,215 @@ +name: fast_2beaker_central_longmix_s03_psl_knn_00019 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. + layout_id: layout_00019 + reproducibility: + enabled: true + layout_id: layout_00019 + action_seed: 8051752742403627587 + step_seeds: + - 195572404364726227 + - 5833845954193008508 + - 2804561554099721956 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2651 + - 0.2651 + 'y': + - 0.1131 + - 0.1131 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3116 + - 0.3116 + 'y': + - 0.0021 + - 0.0021 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.24 + - 0.24 + 'y': + - -0.1517 + - -0.1517 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00019 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00019/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00019/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2258206f6cefa602001845bb8e56d95ab114edcf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00019/results/episode_100_success.json @@ -0,0 +1,686 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2899204647404964, + 0.11314752004321288, + 1.0493936325080664 + ], + "current_z": 1.0493936325080664, + "required_z": 0.8611066145680294, + "initial_z": 0.7611066145680294, + "lift_margin": 0.188287017940037, + "gripper_z": 1.053852539480132, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28484063870169263, + 0.10830472548431903, + 1.053852539480132 + ], + "object_minus_gripper": [ + 0.0050798260388037475, + 0.004842794558893845, + -0.004458906972065524 + ], + "object_to_gripper_xy": 0.007018353918417082, + "object_to_gripper_z": -0.004458906972065524, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2899204647404964, + 0.08869026550390921, + 1.0493936325080664 + ], + "finger_b": [ + 0.27811846024110387, + 0.11314752004321288, + 1.0493936325080664 + ], + "finger_midpoint": [ + 0.2840194624908001, + 0.10091889277356104, + 1.0493936325080664 + ], + "object_minus_finger_midpoint": [ + 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+ ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28984309349841664, + 0.11139877713892396, + 1.2435350802932972 + ], + "held_position": [ + 0.2952067228097724, + 0.11578894432759536, + 1.2389136863513268 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008330628385722287, + "max_held_gripper_dist": 0.00834180129450088, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004621393941970364, + "max_held_gripper_z_dist": 0.004646630959290077, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08686621095107504, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + 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+ "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "inspection_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "inspection_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "inspection_platform", + "object_position": [ + 0.2547973259712239, + -0.14393679736600656, + 0.7671025796520681 + ], + "target_position": [ + 0.24489031042154827, + -0.14929064755895602, + 0.7158860691194898 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.011261113132815052, + "xy_threshold": 0.08, + "gripper_dist": 0.17858661854074742, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7671025796520681, + "min_z": 0.5158860691194898, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581544003913554, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08604959607901515, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14700351377549045, + "release_required_pad_clearance": 0.053024798039507576, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0799079123477935, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "inspection_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "inspection_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00020/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00020/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ff66b1833ba51c3bff136b8a41e844f01bd262ac --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00020/resolved_config.yaml @@ -0,0 +1,215 @@ +name: fast_2beaker_central_longmix_s03_psl_knn_00020 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. + layout_id: layout_00020 + reproducibility: + enabled: true + layout_id: layout_00020 + action_seed: 5991770722474229261 + step_seeds: + - 3028738977928516977 + - 5597848014300184368 + - 589239366799290088 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2824 + - 0.2824 + 'y': + - -0.1632 + - -0.1632 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3029 + - 0.3029 + 'y': + - 0.0413 + - 0.0413 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.244 + - 0.244 + 'y': + - 0.1965 + - 0.1965 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00020 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