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_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[-0.14982555575092837,1.667447148312093,0.71338606911949],"aabb_xy":[[-0.21382555645439774,1.6214287658391722],[-0.08582555504745902,1.7134655307850142]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_24","position":[0.36293753595698575,-0.777111464917539,0.71338606911949],"aabb_xy":[[0.35423957366627046,-0.789236439225014],[0.37163549824770103,-0.7649864906100645]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[-0.1748455227422704,1.4610400211941905,0.71338606911949],"aabb_xy":[[-0.19271463049672588,1.4472071132169793],[-0.1569764149878149,1.4748729291714013]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[0.3429320799486908,-1.8099106536608873,0.71338606911949],"aabb_xy":[[0.25793208153126757,-1.894784949123172],[0.427932078366114,-1.7250363581986021]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_27","position":[0.08962884027464724,-1.56205517026024,0.71338606911949],"aabb_xy":[[0.053715335849657556,-1.5979686784769946],[0.12554234469963693,-1.5261416620434856]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[0.6016938673505765,-2.2485619127471455,0.71338606911949],"aabb_xy":[[0.5440633984633054,-2.308561911673855],[0.6593243362378471,-2.188561913820434]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_29","position":[-0.13239165046052248,-1.9236758953678343,0.71338606911949],"aabb_xy":[[-0.1623833131943928,-1.9536758947046344],[-0.10239998772665215,-1.8936758960310334]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_30","position":[-0.22090254537530646,-1.6091742306888328,0.71338606911949],"aabb_xy":[[-0.2584025455471784,-1.6418749660717398],[-0.18340254520343452,-1.5764734953059254]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_31","position":[-0.5369587325892596,-0.9392915885878381,0.71338606911949],"aabb_xy":[[-0.543053360477378,-0.947860983139507],[-0.5308641047011413,-0.9307221940361695]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_32","position":[-0.11797439800363674,-1.34603383847508,0.71338606911949],"aabb_xy":[[-0.12726801624078732,-1.3835338369632137],[-0.10868077976648614,-1.308533839986946]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6994095021740441,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2767.png","name":"2767"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2767.png","name":"2767"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/back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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00033/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00033/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae5dd385f33ef5df2cb588a2709583f7189088ab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00033/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_htd_00033 +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 b from home. Place beaker b on the heater platform. + Press the heater button to start heating. + layout_id: layout_00033 + reproducibility: + enabled: true + layout_id: layout_00033 + action_seed: 2795588802749883146 + step_seeds: + - 6816342363077730166 + - 4358494381448953216 + - 412513956277572572 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.32 + - 0.32 + 'y': + - 0.3531 + - 0.3531 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.18 + - 0.18 + 'y': + - -0.0336 + - -0.0336 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3385 + - 0.3385 + 'y': + - 0.1085 + - 0.1085 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.272 + - 0.272 + 'y': + - -0.3673 + - -0.3673 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + 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: 0.4 + gripper_distances: 0.018 + 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 + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00033 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00033/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00033/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..251056b0aa0adf99f2b495dbbf537b81b4db7f68 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00033/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20118558490852465, + -0.03176158289009444, + 1.1567905795312046 + ], + "current_z": 1.1567905795312046, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.30020419133192855, + "gripper_z": 1.150278781291092, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1963291125996635, + -0.036571651033081826, + 1.150278781291092 + ], + "object_minus_gripper": [ + 0.004856472308861132, + 0.0048100681429873865, + 0.0065117982401126095 + ], + "object_to_gripper_xy": 0.006835355062241982, + 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