diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6e683cdd8782aec2822c035626b3484cf635327c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "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": [ + 0.31998572981358697, + 0.21188359771649712, + 1.1581714689311604 + ], + "current_z": 1.1581714689311604, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3015848423133053, + "gripper_z": 1.1514471276790312, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3148008589663649, + 0.20695013435920057, + 1.1514471276790312 + ], + "object_minus_gripper": [ + 0.005184870847222078, + 0.0049334633572965525, + 0.0067243412521291734 + ], + "object_to_gripper_xy": 0.007156950915030867, + "object_to_gripper_z": 0.0067243412521291734, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31998572981358697, + 0.18751739472594312, + 1.1581714689311604 + ], + "finger_b": [ + 0.3091119761634137, + 0.21188359771649712, + 1.1581714689311604 + ], + "finger_midpoint": [ + 0.3145488529885003, + 0.1997004962212201, + 1.1581714689311604 + ], + "object_minus_finger_midpoint": [ + 0.005436876825086645, + 0.012183101495277016, + 0.0 + ], + "finger_gap": 0.026682398067294097, + "fingertip_max_gap": 0.09028878960747069, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01334119903364706, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1581714689311604, + "object_top_z": 1.2038711041298116, + "finger_top_clearance": 0.04569963519865117, + "fingertip_min_top_clearance": 0.01370989055959535, + "object_projection_between_fingers": 0.8339230879172923, + "object_to_finger_line_xy": 0.009929845437474527, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04764439480373535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7299287086960226, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27193212710981773, + -0.3082946899596561, + 0.8470190502743253 + ], + "target_position": [ + 0.2640532464991168, + -0.3085298614112741, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007882389567214683, + "xy_threshold": 0.08, + "gripper_dist": 0.18778071320368755, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470190502743253, + "min_z": 0.5730800627579278, + "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": 0.07566638661084711, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08691485207563408, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15529709360250118, + "release_required_pad_clearance": 0.053457426037817043, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9245083463886203, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006518900394439697, + "max_z_decrease": 0.006518900394439697, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509513568247949, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006518900394439697, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02112124589304497, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006518900394439697, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006518917223196945, + "max_button_displacement": 0.12, + "button_start": [ + 0.11975317448377608, + -0.36479133367538447, + 0.7768088579177856 + ], + "button_final": [ + 0.11975317448377608, + -0.36479133367538447, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11871420219730905, + -0.3647232858613398, + 0.8080816499563612 + ], + "closest_button": [ + 0.11974315345287322, + -0.36479309201240534, + 0.7730016708374023 + ], + "closest_ee_minus_button": [ + -0.0010289512555641672, + 6.980615106555454e-05, + 0.03507997911895888 + ], + "button_min_z_position": [ + 0.1197383627295494, + -0.3647911846637725, + 0.770289957523346 + ], + "min_active_finger_to_button": 0.14706573302882936, + "closest_active_finger": [ + -0.008733458817005157, + -0.42753779888153076, + 0.8106573820114136 + ], + "closest_active_finger_button": [ + 0.1197538003325462, + -0.36479333043098444, + 0.7762700915336609 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12848725914955136, + -0.06274446845054632, + 0.034387290477752686 + ], + "min_contact_pad_to_button": 0.02112124589304497, + "closest_contact_pad": [ + 0.1197383627295494, + -0.3659440251683496, + 0.7913797177601404 + ], + "closest_contact_pad_button": [ + 0.1197383627295494, + -0.3647911846637725, + 0.770289957523346 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011528405045770906, + 0.02108976023679443 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5bdf732edfac1e16e2584f86a599137707ba95a622e864c7aacfe42f25852639", + "visual_seed": 6056464879376558662, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a76c656dbbb23ee9dd313fc93568bfdc30646607 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "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": [ + 0.32346034507574195, + 0.20883611617989759, + 1.1561003672993777 + ], + "current_z": 1.1561003672993777, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.2995138002861676, + "gripper_z": 1.1493727990538187, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31828959138494417, + 0.20375945664071488, + 1.1493727990538187 + ], + "object_minus_gripper": [ + 0.00517075369079778, + 0.00507665953918271, + 0.006727568245558979 + ], + "object_to_gripper_xy": 0.007246320846310469, + "object_to_gripper_z": 0.006727568245558979, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32346034507574195, + 0.18468891907737614, + 1.1561003672993777 + ], + "finger_b": [ + 0.3121073795299598, + 0.20883611617989759, + 1.1561003672993777 + ], + "finger_midpoint": [ + 0.3177838623028509, + 0.19676251762863686, + 1.1561003672993777 + ], + "object_minus_finger_midpoint": [ + 0.005676482772891067, + 0.012073598551260722, + 0.0 + ], + "finger_gap": 0.026682896293163835, + "fingertip_max_gap": 0.09046614184163246, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013341448146581917, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1561003672993777, + "object_top_z": 1.2018355186897398, + "finger_top_clearance": 0.045735151390362105, + "fingertip_min_top_clearance": 0.013720545417108631, + "object_projection_between_fingers": 0.8189691030693197, + "object_to_finger_line_xy": 0.010274083207465406, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773307092081623, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7439760830028368, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2774724115845958, + -0.31453353176202015, + 0.8470196666583769 + ], + "target_position": [ + 0.26969680357971926, + -0.31492107660813473, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007785259844940951, + "xy_threshold": 0.08, + "gripper_dist": 0.18499517102790736, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196666583769, + "min_z": 0.5730800627579278, + "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": 0.07537873520012585, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498292541760737, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15339341868775624, + "release_required_pad_clearance": 0.052491462708803685, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595238145870219, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006799936294555664, + "max_z_decrease": 0.006799936294555664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513678782666034, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006799936294555664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021197821392983464, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006799936294555664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0067999568283735054, + "max_button_displacement": 0.12, + "button_start": [ + 0.125396728515625, + -0.37118253111839294, + 0.7768088579177856 + ], + "button_final": [ + 0.125396728515625, + -0.37118253111839294, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12359489086813227, + -0.3724716114487585, + 0.8081292486417255 + ], + "closest_button": [ + 0.1253892034292221, + -0.37118577957153315, + 0.7730618715286255 + ], + "closest_ee_minus_button": [ + -0.0017943125610898336, + -0.001285831877225363, + 0.03506737711310004 + ], + "button_min_z_position": [ + 0.1253800243139267, + -0.3711820542812347, + 0.77000892162323 + ], + "min_active_finger_to_button": 0.1478005448211776, + "closest_active_finger": [ + -0.01756366342306137, + -0.3561496138572693, + 0.8111348152160645 + ], + "closest_active_finger_button": [ + 0.12539824843406677, + -0.3711839020252227, + 0.7767711281776428 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14296191185712814, + 0.015034288167953436, + 0.03436368703842163 + ], + "min_contact_pad_to_button": 0.021197821392983464, + "closest_contact_pad": [ + 0.1253800243139267, + -0.3736716401258905, + 0.7910600402189464 + ], + "closest_contact_pad_button": [ + 0.1253800243139267, + -0.3711820542812347, + 0.77000892162323 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002489585844655806, + 0.0210511185957164 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e1f5af696c74d7027b0522b221ca22719b289b3e0f708a5c470a3c0c8baafacd", + "visual_seed": 5248117330473613859, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..039b8d400b00f4e2c9ffcb753b9eadfb5f52253c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "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": [ + 0.3186378325793008, + 0.2057826736229081, + 1.1564384327446504 + ], + "current_z": 1.1564384327446504, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.2998519849407296, + "gripper_z": 1.149725168272214, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31366799913788374, + 0.20091445691998508, + 1.149725168272214 + ], + "object_minus_gripper": [ + 0.004969833441417049, + 0.004868216702923034, + 0.006713264472436364 + ], + "object_to_gripper_xy": 0.006956923048449367, + "object_to_gripper_z": 0.006713264472436364, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3186378325793008, + 0.18153854568112474, + 1.1564384327446504 + ], + "finger_b": [ + 0.30789223793416387, + 0.2057826736229081, + 1.1564384327446504 + ], + "finger_midpoint": [ + 0.3132650352567323, + 0.19366060965201642, + 1.1564384327446504 + ], + "object_minus_finger_midpoint": [ + 0.005372797322568457, + 0.012122063970891689, + 0.0 + ], + "finger_gap": 0.026518777195322498, + "fingertip_max_gap": 0.09036790189297014, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013259388597661249, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1564384327446504, + "object_top_z": 1.2021781990519043, + "finger_top_clearance": 0.04573976630725385, + "fingertip_min_top_clearance": 0.013721929892176155, + "object_projection_between_fingers": 0.8358072720497154, + "object_to_finger_line_xy": 0.009823890802672205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047683950946485074, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7376215530137715, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27234355280707995, + -0.3163249590436007, + 0.8470195758376191 + ], + "target_position": [ + 0.26494398209628434, + -0.31644472424746406, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00740053987274717, + "xy_threshold": 0.08, + "gripper_dist": 0.18516723208559824, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195758376191, + "min_z": 0.5730800627579278, + "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": 0.07525516486626928, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551120387541532, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1537760491526491, + "release_required_pad_clearance": 0.05275560193770766, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.560926606143283, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006760299205780029, + "max_z_decrease": 0.006760299205780029, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510928135344616, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006760299205780029, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02111173322356974, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006760299205780029, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006760322428163724, + "max_button_displacement": 0.12, + "button_start": [ + 0.1206439062952995, + -0.37270617485046387, + 0.7768088579177856 + ], + "button_final": [ + 0.1206439062952995, + -0.37270617485046387, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12079807123658923, + -0.3712612038764809, + 0.8079693754379389 + ], + "closest_button": [ + 0.12063303589820859, + -0.3727056980133056, + 0.7728902101516724 + ], + "closest_ee_minus_button": [ + 0.0001650353383806369, + 0.001444494136824681, + 0.035079165286266534 + ], + "button_min_z_position": [ + 0.12062618881464002, + -0.3727064430713653, + 0.7700485587120056 + ], + "min_active_finger_to_button": 0.14543409440705835, + "closest_active_finger": [ + -0.005507126450538635, + -0.4363468885421753, + 0.8107019662857056 + ], + "closest_active_finger_button": [ + 0.12064494192600246, + -0.37270718812942505, + 0.7762531638145447 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12615206837654108, + -0.06363970041275024, + 0.03444880247116089 + ], + "min_contact_pad_to_button": 0.02111173322356974, + "closest_contact_pad": [ + 0.12062618881464002, + -0.3727064430713653, + 0.7911602919355754 + ], + "closest_contact_pad_button": [ + 0.12062618881464002, + -0.3727064430713653, + 0.7700485587120056 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02111173322356974 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ce0f430135460c4f0ebaf245bfe816a7fcc5110dac13e0ec2c0f8e3c54d0d213", + "visual_seed": 6315697150806935999, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1f83b153e08f89defc0115bebc7c2ab17771825e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "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": [ + 0.32533524073892267, + 0.204804365885319, + 1.1583495773563266 + ], + "current_z": 1.1583495773563266, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3017629507384715, + "gripper_z": 1.1516267041637431, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32019388788511105, + 0.19975694151421672, + 1.1516267041637431 + ], + "object_minus_gripper": [ + 0.0051413528538116204, + 0.005047424371102283, + 0.006722873192583467 + ], + "object_to_gripper_xy": 0.007204859606501307, + "object_to_gripper_z": 0.006722873192583467, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32533524073892267, + 0.18052376405980897, + 1.1583495773563266 + ], + "finger_b": [ + 0.3142122048888095, + 0.204804365885319, + 1.1583495773563266 + ], + "finger_midpoint": [ + 0.31977372281386607, + 0.192664064972564, + 1.1583495773563266 + ], + "object_minus_finger_midpoint": [ + 0.005561517925056603, + 0.012140300912755003, + 0.0 + ], + "finger_gap": 0.02670710676078305, + "fingertip_max_gap": 0.090372036451809, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013353553380391523, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1583495773563266, + "object_top_z": 1.204083578785992, + "finger_top_clearance": 0.04573400142966544, + "fingertip_min_top_clearance": 0.013720200428899631, + "object_projection_between_fingers": 0.8265425374499876, + "object_to_finger_line_xy": 0.010112439620904549, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0476860182259045, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8141564658999503, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27559407530916485, + -0.3141501107365809, + 0.8470194779538974 + ], + "target_position": [ + 0.2676631402267635, + -0.3145848850120584, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00794284331658892, + "xy_threshold": 0.08, + "gripper_dist": 0.18765642378404296, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194779538974, + "min_z": 0.5730800627579278, + "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": 0.0751703880423711, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08575005572898518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15640826200100866, + "release_required_pad_clearance": 0.052875027864492594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.79030505924302, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006786346435546875, + "max_z_decrease": 0.006786346435546875, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508471768699033, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006786346435546875, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021097847472208414, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006786346435546875, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006786371715264428, + "max_button_displacement": 0.12, + "button_start": [ + 0.12336306273937223, + -0.3708463311195373, + 0.7768088579177856 + ], + "button_final": [ + 0.12336306273937223, + -0.3708463311195373, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12272721327411648, + -0.37040445822198115, + 0.8079408957884887 + ], + "closest_button": [ + 0.12335182726383205, + -0.3708462417125702, + 0.7728645205497742 + ], + "closest_ee_minus_button": [ + -0.0006246139897155695, + 0.00044178349058904276, + 0.03507637523871454 + ], + "button_min_z_position": [ + 0.12334454804658886, + -0.37084576487541193, + 0.7700225114822388 + ], + "min_active_finger_to_button": 0.14655528089526618, + "closest_active_finger": [ + -0.003432132303714752, + -0.4357767403125763, + 0.8112360239028931 + ], + "closest_active_finger_button": [ + 0.12336352467536921, + -0.370848000049591, + 0.7768039107322693 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12679565697908396, + -0.06492874026298529, + 0.03443211317062378 + ], + "min_contact_pad_to_button": 0.021097847472208414, + "closest_contact_pad": [ + 0.12334454804658886, + -0.3713316677937984, + 0.7911147628157137 + ], + "closest_contact_pad_button": [ + 0.12334454804658886, + -0.37084576487541193, + 0.7700225114822388 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004859029183864605, + 0.02109225133347492 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ce56551d80effcca67ca0c6ada573e83c0df80347a290030de21f066b70c2691", + "visual_seed": 773858944509301717, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..28488a658bbe3097e57cc2d958503f91fae19ebc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "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": [ + 0.32194027123049596, + 0.20993406836846404, + 1.1553998112760053 + ], + "current_z": 1.1553998112760053, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.29881336347208454, + "gripper_z": 1.1486844900437918, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31684525864741825, + 0.2049384881468981, + 1.1486844900437918 + ], + "object_minus_gripper": [ + 0.005095012583077707, + 0.004995580221565932, + 0.0067153212322135225 + ], + "object_to_gripper_xy": 0.007135473002669192, + "object_to_gripper_z": 0.0067153212322135225, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32194027123049596, + 0.18568029835017993, + 1.1553998112760053 + ], + "finger_b": [ + 0.31090920031433916, + 0.20993406836846404, + 1.1553998112760053 + ], + "finger_midpoint": [ + 0.3164247357724176, + 0.197807183359322, + 1.1553998112760053 + ], + "object_minus_finger_midpoint": [ + 0.005515535458078369, + 0.012126885009142052, + 0.0 + ], + "finger_gap": 0.02664450948426518, + "fingertip_max_gap": 0.09039650269011049, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013322254742132578, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1553998112760053, + "object_top_z": 1.201154850222721, + "finger_top_clearance": 0.04575503894671562, + "fingertip_min_top_clearance": 0.013726511684014652, + "object_projection_between_fingers": 0.8285964177368705, + "object_to_finger_line_xy": 0.010041282884710177, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047698251345055245, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7426956623464203, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2704918008375712, + -0.31015898525141783, + 0.8470190222133702 + ], + "target_position": [ + 0.2627973846716273, + -0.3102721765994172, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0076952486909781445, + "xy_threshold": 0.08, + "gripper_dist": 0.18762431311921568, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470190222133702, + "min_z": 0.5730800627579278, + "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": 0.07523988895562445, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08502635998280515, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15615384578422836, + "release_required_pad_clearance": 0.05251317999140258, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.09691194190997494, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006675839424133301, + "max_z_decrease": 0.006675839424133301, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351271233540224, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006675839424133301, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021123352548409642, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006675839424133301, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006675859240236362, + "max_button_displacement": 0.12, + "button_start": [ + 0.11849731206893918, + -0.3665336370468139, + 0.7768088579177856 + ], + "button_final": [ + 0.11849731206893918, + -0.3665336370468139, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11973866947367054, + -0.36596091283991894, + 0.8081270818451032 + ], + "closest_button": [ + 0.11849348247051235, + -0.36653712391853327, + 0.7730267643928528 + ], + "closest_ee_minus_button": [ + 0.0012451870031581908, + 0.0005762110786143304, + 0.035100317452250396 + ], + "button_min_z_position": [ + 0.11848109215497969, + -0.3665348589420318, + 0.7701330184936523 + ], + "min_active_finger_to_button": 0.14486718220874847, + "closest_active_finger": [ + -0.008404642343521118, + -0.42738646268844604, + 0.8110257387161255 + ], + "closest_active_finger_button": [ + 0.11850003898143766, + -0.36653470993041987, + 0.7766925692558289 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12690468132495877, + -0.06085175275802618, + 0.03433316946029663 + ], + "min_contact_pad_to_button": 0.021123352548409642, + "closest_contact_pad": [ + 0.11848109215497969, + -0.36727568027347846, + 0.791243376298277 + ], + "closest_contact_pad_button": [ + 0.11848109215497969, + -0.3665348589420318, + 0.7701330184936523 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007408213314466505, + 0.02111035780462467 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7e68940735a66b1347aaf53ce6f36682d349a92890dc5bcde5c287511b81222b", + "visual_seed": 3477545363752246302, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42acc5f88ea04a673bf7e10f24abc9253a46c025 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "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": [ + 0.32015447105644723, + 0.20311333285536026, + 1.155809590902632 + ], + "current_z": 1.155809590902632, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.29922308349406646, + "gripper_z": 1.1490768801062061, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3151316792985519, + 0.198055753359263, + 1.1490768801062061 + ], + "object_minus_gripper": [ + 0.0050227917578953285, + 0.005057579496097253, + 0.0067327107964259 + ], + "object_to_gripper_xy": 0.007127941315872669, + "object_to_gripper_z": 0.0067327107964259, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32015447105644723, + 0.17899241535693786, + 1.155809590902632 + ], + "finger_b": [ + 0.30891595401665817, + 0.20311333285536026, + 1.155809590902632 + ], + "finger_midpoint": [ + 0.3145352125365527, + 0.19105287410614907, + 1.155809590902632 + ], + "object_minus_finger_midpoint": [ + 0.005619258519894532, + 0.01206045874921119, + 0.0 + ], + "finger_gap": 0.026610579216156293, + "fingertip_max_gap": 0.09055249694810888, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013305289608078134, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.155809590902632, + "object_top_z": 1.201558455752557, + "finger_top_clearance": 0.04574886484992491, + "fingertip_min_top_clearance": 0.013724659454977473, + "object_projection_between_fingers": 0.8216351136546758, + "object_to_finger_line_xy": 0.010187051552669005, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777624847405444, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8242643518662228, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.276220700090284, + -0.3090829995562736, + 0.8470195470232769 + ], + "target_position": [ + 0.268921049654072, + -0.30927022440851726, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007302051056805048, + "xy_threshold": 0.08, + "gripper_dist": 0.18654781749203259, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195470232769, + "min_z": 0.5730800627579278, + "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": 0.07578982659724397, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564144052441557, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15387432941945342, + "release_required_pad_clearance": 0.052820720262207785, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6864225575898005, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006832897663116455, + "max_z_decrease": 0.006832897663116455, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511967012580907, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006832897663116455, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021161824646341944, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006832897663116455, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006832913947971386, + "max_button_displacement": 0.12, + "button_start": [ + 0.12462097406387328, + -0.36553168296813965, + 0.7768088579177856 + ], + "button_final": [ + 0.12462097406387328, + -0.36553168296813965, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12283054260629231, + -0.3664129517450879, + 0.8079390488201776 + ], + "closest_button": [ + 0.12461472302675246, + -0.3655346930027008, + 0.7728757262229919 + ], + "closest_ee_minus_button": [ + -0.0017841804204601491, + -0.0008782587423871169, + 0.0350633225971857 + ], + "button_min_z_position": [ + 0.12460605800151825, + -0.3655319213867188, + 0.7699759602546692 + ], + "min_active_finger_to_button": 0.14785254940747447, + "closest_active_finger": [ + -0.018431581556797028, + -0.35096055269241333, + 0.810920774936676 + ], + "closest_active_finger_button": [ + 0.12462083250284195, + -0.365534245967865, + 0.7765116095542908 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14305241405963898, + 0.01457369327545166, + 0.034409165382385254 + ], + "min_contact_pad_to_button": 0.021161824646341944, + "closest_contact_pad": [ + 0.12460605800151825, + -0.3675272899765371, + 0.7910435022696574 + ], + "closest_contact_pad_button": [ + 0.12460605800151825, + -0.3655319213867188, + 0.7699759602546692 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019953685898183027, + 0.021067542014988172 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "935c8521dc6aa309f7d6083e57b8daca7a80f722606176d0cd56d39a6302e549", + "visual_seed": 6050527372810140182, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..03999f1c094f4ccbd19b067905884a21908ad533 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "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": [ + 0.321733807535856, + 0.20201983671604437, + 1.1590443748961259 + ], + "current_z": 1.1590443748961259, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3024578674875603, + "gripper_z": 1.1523063645850864, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3165645852122757, + 0.1969886808810099, + 1.1523063645850864 + ], + "object_minus_gripper": [ + 0.0051692223235803025, + 0.005031155835034468, + 0.0067380103110394884 + ], + "object_to_gripper_xy": 0.007213417253077927, + "object_to_gripper_z": 0.0067380103110394884, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.321733807535856, + 0.17784657072462354, + 1.1590443748961259 + ], + "finger_b": [ + 0.3104812447017763, + 0.20201983671604437, + 1.1590443748961259 + ], + "finger_midpoint": [ + 0.31610752611881615, + 0.18993320372033395, + 1.1590443748961259 + ], + "object_minus_finger_midpoint": [ + 0.005626281417039858, + 0.012086632995710417, + 0.0 + ], + "finger_gap": 0.02666396367809736, + "fingertip_max_gap": 0.09053841611425181, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01333198183904868, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1590443748961259, + "object_top_z": 1.2047483699636772, + "finger_top_clearance": 0.045703995067551295, + "fingertip_min_top_clearance": 0.013711198520265389, + "object_projection_between_fingers": 0.8219042829947851, + "object_to_finger_line_xy": 0.010201453833243248, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776920805712591, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7130987502972415, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2786294021757303, + -0.3130961580699173, + 0.8470184948755728 + ], + "target_position": [ + 0.2708393081433118, + -0.31351682284201016, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0078014437051357344, + "xy_threshold": 0.08, + "gripper_dist": 0.1885042481050663, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470184948755728, + "min_z": 0.5730800627579278, + "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": 0.0754139494560679, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08577819222053527, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15665005849112157, + "release_required_pad_clearance": 0.05288909611026764, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8137206096596018, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006826579570770264, + "max_z_decrease": 0.006826579570770264, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511499081459766, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006826579570770264, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021146646145262, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006826579570770264, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006826603361637239, + "max_button_displacement": 0.12, + "button_start": [ + 0.1265392303466797, + -0.3697782754898071, + 0.7768088579177856 + ], + "button_final": [ + 0.1265392303466797, + -0.3697782754898071, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1272077470891344, + -0.3700693834720599, + 0.8081555938797149 + ], + "closest_button": [ + 0.12653248012065885, + -0.36978089809417714, + 0.7730482816696167 + ], + "closest_ee_minus_button": [ + 0.0006752669684755574, + -0.0002884853778827856, + 0.03510731221009822 + ], + "button_min_z_position": [ + 0.12652122974395746, + -0.36977916955947865, + 0.7699822783470154 + ], + "min_active_finger_to_button": 0.1455115740078415, + "closest_active_finger": [ + -0.013882189989089966, + -0.3531653881072998, + 0.8110864162445068 + ], + "closest_active_finger_button": [ + 0.1265432834625244, + -0.3697771728038787, + 0.7767592668533325 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14042547345161435, + 0.01661178469657887, + 0.034327149391174316 + ], + "min_contact_pad_to_button": 0.021146646145262, + "closest_contact_pad": [ + 0.12652122974395746, + -0.3712896682398424, + 0.7910749082667182 + ], + "closest_contact_pad_button": [ + 0.12652122974395746, + -0.36977916955947865, + 0.7699822783470154 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015104986803637366, + 0.021092629919702843 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "081443567593f2792554fbe9a5c92298362e79ef6e2c6b78f943e2b5ea6f09d4", + "visual_seed": 6136902683806673843, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..be4b3bca2f5a8bca919299a2f4881d8dffb3e4bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "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": [ + 0.32041855986048495, + 0.20910722159292874, + 1.1555255773461368 + ], + "current_z": 1.1555255773461368, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.2989391891468608, + "gripper_z": 1.1488041682019472, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31521866491412504, + 0.20413553703279286, + 1.1488041682019472 + ], + "object_minus_gripper": [ + 0.0051998949463599176, + 0.004971684560135886, + 0.006721409144189616 + ], + "object_to_gripper_xy": 0.007194202861934946, + "object_to_gripper_z": 0.006721409144189616, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32041855986048495, + 0.18474622038052207, + 1.1555255773461368 + ], + "finger_b": [ + 0.30946668903440633, + 0.20910722159292874, + 1.1555255773461368 + ], + "finger_midpoint": [ + 0.31494262444744564, + 0.19692672098672542, + 1.1555255773461368 + ], + "object_minus_finger_midpoint": [ + 0.005475935413039312, + 0.01218050060620332, + 0.0 + ], + "finger_gap": 0.026709583573354175, + "fingertip_max_gap": 0.0903772986792282, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013354791786677075, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1555255773461368, + "object_top_z": 1.2012433978058956, + "finger_top_clearance": 0.04571782045975881, + "fingertip_min_top_clearance": 0.013715346137927674, + "object_projection_between_fingers": 0.8318710922780806, + "object_to_finger_line_xy": 0.00998886926632522, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0476886493396141, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7431790898601397, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2741694306725073, + -0.3101402326458129, + 0.8470195968746256 + ], + "target_position": [ + 0.2659674832093161, + -0.31066706964415636, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008218850248773973, + "xy_threshold": 0.08, + "gripper_dist": 0.18757298029532912, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195968746256, + "min_z": 0.5730800627579278, + "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": 0.07538919090172107, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08545265190438693, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15593244093477737, + "release_required_pad_clearance": 0.05272632595219347, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5051284436565934, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0068700313568115234, + "max_z_decrease": 0.0068700313568115234, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035094455517337184, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0068700313568115234, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021198197160919405, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0068700313568115234, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006870050595492193, + "max_button_displacement": 0.12, + "button_start": [ + 0.12166740745306012, + -0.36692851781845087, + 0.7768088579177856 + ], + "button_final": [ + 0.12166740745306012, + -0.36692851781845087, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12140042683917696, + -0.367946278826187, + 0.807780772628482 + ], + "closest_button": [ + 0.12165645509958266, + -0.366929680109024, + 0.7727019786834717 + ], + "closest_ee_minus_button": [ + -0.00025602826040570237, + -0.0010165987171630309, + 0.035078793945010345 + ], + "button_min_z_position": [ + 0.12165115773677822, + -0.3669290542602539, + 0.7699388265609741 + ], + "min_active_finger_to_button": 0.1463615742171582, + "closest_active_finger": [ + -0.019889801740646362, + -0.3529554307460785, + 0.8109713792800903 + ], + "closest_active_finger_button": [ + 0.12166821211576459, + -0.36693042516708374, + 0.7765077948570251 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14155801385641095, + 0.013974994421005249, + 0.034463584423065186 + ], + "min_contact_pad_to_button": 0.021198197160919405, + "closest_contact_pad": [ + 0.12165115773677822, + -0.36898865392285046, + 0.7910367319570802 + ], + "closest_contact_pad_button": [ + 0.12165115773677822, + -0.3669290542602539, + 0.7699388265609741 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020595996625965562, + 0.02109790539610612 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2d079a14da3020537883b8daa6f64c981b316109e1540e5dea92339c72aadc1", + "visual_seed": 8285123559982706673, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..34e33717d59e2fe62830f91b4d385afdd2f7ad86 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "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": [ + 0.3247483267947019, + 0.213034938914356, + 1.1585714430785703 + ], + "current_z": 1.1585714430785703, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3019848164607152, + "gripper_z": 1.1518661746170555, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31976451471704403, + 0.20796880115814587, + 1.1518661746170555 + ], + "object_minus_gripper": [ + 0.0049838120776578565, + 0.005066137756210121, + 0.006705268461514757 + ], + "object_to_gripper_xy": 0.007106626104580572, + "object_to_gripper_z": 0.006705268461514757, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3247483267947019, + 0.18885458820470155, + 1.1585714430785703 + ], + "finger_b": [ + 0.31360139313375834, + 0.213034938914356, + 1.1585714430785703 + ], + "finger_midpoint": [ + 0.3191748599642301, + 0.20094476355952878, + 1.1585714430785703 + ], + "object_minus_finger_midpoint": [ + 0.005573466830471774, + 0.012090175354827204, + 0.0 + ], + "finger_gap": 0.02662599276052185, + "fingertip_max_gap": 0.09042483359566902, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013312996380260914, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1585714430785703, + "object_top_z": 1.2043520542637434, + "finger_top_clearance": 0.04578061118517307, + "fingertip_min_top_clearance": 0.013734183355551887, + "object_projection_between_fingers": 0.8247333790218468, + "object_to_finger_line_xy": 0.010123069125839573, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047712416797834514, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8514275767899033, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 390, + "max_stable_success_frames": 390, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2738780643018547, + -0.31220842697317747, + 0.8470195262307938 + ], + "target_position": [ + 0.266426358491103, + -0.31257445531617484, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007460690064455667, + "xy_threshold": 0.08, + "gripper_dist": 0.18622581494060525, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195262307938, + "min_z": 0.5730800627579278, + "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": 0.07572097500025732, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855077735889969, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15369216793336785, + "release_required_pad_clearance": 0.05275388679449845, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5581290704282843, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006838619709014893, + "max_z_decrease": 0.006838619709014893, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035100007421892315, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006838619709014893, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021101748298213437, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006838619709014893, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006838636438756801, + "max_button_displacement": 0.12, + "button_start": [ + 0.12212628126144406, + -0.36883592605590815, + 0.7768088579177856 + ], + "button_final": [ + 0.12212628126144406, + -0.36883592605590815, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1212783573185918, + -0.36870926024852096, + 0.8079457756177664 + ], + "closest_button": [ + 0.12212077528238294, + -0.3688383400440216, + 0.7728561162948608 + ], + "closest_ee_minus_button": [ + -0.0008424179637911422, + 0.00012907979550064175, + 0.03508965932290553 + ], + "button_min_z_position": [ + 0.12211117148399352, + -0.3688366413116455, + 0.7699702382087708 + ], + "min_active_finger_to_button": 0.14687864624547223, + "closest_active_finger": [ + -0.006485402584075928, + -0.43091079592704773, + 0.8108315467834473 + ], + "closest_active_finger_button": [ + 0.1221262440085411, + -0.36883729696273804, + 0.7764911651611328 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12861164659261703, + -0.06207349896430969, + 0.03434038162231445 + ], + "min_contact_pad_to_button": 0.021101748298213437, + "closest_contact_pad": [ + 0.12211117148399352, + -0.36993124209492556, + 0.7910435775351897 + ], + "closest_contact_pad_button": [ + 0.12211117148399352, + -0.3688366413116455, + 0.7699702382087708 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001094600783280053, + 0.02107333932641897 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e7ee2694fa8e48e6c83eabb3dd5aaf9e31158e226dc199d19e614438dba53a2c", + "visual_seed": 6449447162877649627, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cfa1f42e1dd17ec745b4052acb3c8bc4944aefcd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "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": [ + 0.3258158857402209, + 0.21008872321247454, + 1.1576250726368154 + ], + "current_z": 1.1576250726368154, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.301038505623605, + "gripper_z": 1.1509069461180033, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3208015998182987, + 0.20501634315951772, + 1.1509069461180033 + ], + "object_minus_gripper": [ + 0.0050142859219222125, + 0.005072380052956821, + 0.006718126518812095 + ], + "object_to_gripper_xy": 0.007132468205917327, + "object_to_gripper_z": 0.006718126518812095, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3258158857402209, + 0.18592875580228058, + 1.1576250726368154 + ], + "finger_b": [ + 0.3146207727416656, + 0.21008872321247454, + 1.1576250726368154 + ], + "finger_midpoint": [ + 0.3202183292409433, + 0.19800873950737757, + 1.1576250726368154 + ], + "object_minus_finger_midpoint": [ + 0.005597556499277623, + 0.01207998370509697, + 0.0 + ], + "finger_gap": 0.026627703248910832, + "fingertip_max_gap": 0.09061472258646483, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013313851624455392, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1576250726368154, + "object_top_z": 1.2033759873169037, + "finger_top_clearance": 0.045750914680088295, + "fingertip_min_top_clearance": 0.013725274404026456, + "object_projection_between_fingers": 0.8232377396949214, + "object_to_finger_line_xy": 0.010157600250768836, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780736129323242, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7845346143468963, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2715076993680022, + -0.3100378128460952, + 0.8470197575463443 + ], + "target_position": [ + 0.26371156364873355, + -0.31028694895479714, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007800115444909471, + "xy_threshold": 0.08, + "gripper_dist": 0.18693688079212048, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197575463443, + "min_z": 0.5730800627579278, + "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": 0.07567274627925623, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08596355512764679, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1545564040292191, + "release_required_pad_clearance": 0.0529817775638234, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9977864528652886, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006502509117126465, + "max_z_decrease": 0.006502509117126465, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035115961072053975, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006502509117126465, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021116892135326536, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006502509117126465, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006502529626986605, + "max_button_displacement": 0.12, + "button_start": [ + 0.11941149085760115, + -0.3665484189987182, + 0.7768088579177856 + ], + "button_final": [ + 0.11941149085760115, + -0.3665484189987182, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11755570071074506, + -0.3666281733741853, + 0.8080922949931028 + ], + "closest_button": [ + 0.11940058320760724, + -0.36655002832412714, + 0.7730249166488647 + ], + "closest_ee_minus_button": [ + -0.0018448824968621824, + -7.814505005815375e-05, + 0.03506737834423801 + ], + "button_min_z_position": [ + 0.11939515918493268, + -0.36654832959175104, + 0.7703063488006592 + ], + "min_active_finger_to_button": 0.14783761642771376, + "closest_active_finger": [ + -0.010191217064857483, + -0.42882490158081055, + 0.8106610178947449 + ], + "closest_active_finger_button": [ + 0.1194116175174713, + -0.3665502071380614, + 0.7762963771820068 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1296028345823288, + -0.062274694442749134, + 0.03436464071273804 + ], + "min_contact_pad_to_button": 0.021116892135326536, + "closest_contact_pad": [ + 0.11939515918493268, + -0.3679124129609823, + 0.7913791371784891 + ], + "closest_contact_pad_button": [ + 0.11939515918493268, + -0.36654832959175104, + 0.7703063488006592 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013640833692312726, + 0.021072788377829887 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3c22d418eac1b098e30d6759c4584411a79ad4554e9bab0361d67840bc28ec8b", + "visual_seed": 9022690490833194147, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..10c6a06d5ab8db28bbf365ce86ee11ec13ce6594 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "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": [ + 0.3172659910136627, + 0.20204043609257222, + 1.1563245990294566 + ], + "current_z": 1.1563245990294566, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.2997382108301806, + "gripper_z": 1.1496078819039237, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31222730454169867, + 0.19711798923296622, + 1.1496078819039237 + ], + "object_minus_gripper": [ + 0.005038686471964038, + 0.0049224468596059945, + 0.006716717125532901 + ], + "object_to_gripper_xy": 0.007044064483549133, + "object_to_gripper_z": 0.006716717125532901, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3172659910136627, + 0.17778330790347274, + 1.1563245990294566 + ], + "finger_b": [ + 0.306396284495133, + 0.20204043609257222, + 1.1563245990294566 + ], + "finger_midpoint": [ + 0.31183113775439786, + 0.18991187199802248, + 1.1563245990294566 + ], + "object_minus_finger_midpoint": [ + 0.005434853259264849, + 0.012128564094549737, + 0.0 + ], + "finger_gap": 0.026581173559144664, + "fingertip_max_gap": 0.09038931938490505, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013290586779572332, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1563245990294566, + "object_top_z": 1.2020561851761902, + "finger_top_clearance": 0.04573158614673356, + "fingertip_min_top_clearance": 0.0137194758440201, + "object_projection_between_fingers": 0.8327803406564861, + "object_to_finger_line_xy": 0.009919346255017255, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047694659692452526, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7161466367037563, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27549656943498574, + -0.31548236371391325, + 0.8470182656952461 + ], + "target_position": [ + 0.26837382134275284, + -0.3156060803978806, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007123822443274347, + "xy_threshold": 0.08, + "gripper_dist": 0.18773329818648604, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470182656952461, + "min_z": 0.5730800627579278, + "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": 0.07581724410107679, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08685104579718213, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.154996625253978, + "release_required_pad_clearance": 0.053425522898591066, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8599781532467237, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00687563419342041, + "max_z_decrease": 0.00687563419342041, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516400260805825, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00687563419342041, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021139312123224487, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.00687563419342041, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006875655361672409, + "max_button_displacement": 0.12, + "button_start": [ + 0.12407374382019043, + -0.37186753749847407, + 0.7768088579177856 + ], + "button_final": [ + 0.12407374382019043, + -0.37186753749847407, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12601322854371813, + -0.3719409498036547, + 0.8081244574833938 + ], + "closest_button": [ + 0.12406702339649199, + -0.37186974287033076, + 0.7730144262313843 + ], + "closest_ee_minus_button": [ + 0.0019462051472261405, + -7.1206933323964e-05, + 0.03511003125200951 + ], + "button_min_z_position": [ + 0.12405670434236526, + -0.37186840176582336, + 0.7699332237243652 + ], + "min_active_finger_to_button": 0.144314115054841, + "closest_active_finger": [ + -0.015044793486595154, + -0.3547615110874176, + 0.8110567927360535 + ], + "closest_active_finger_button": [ + 0.1240772008895874, + -0.37186676263809204, + 0.7767195701599121 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13912199437618256, + 0.01710525155067444, + 0.03433722257614136 + ], + "min_contact_pad_to_button": 0.021139312123224487, + "closest_contact_pad": [ + 0.12405670434236526, + -0.37318424588534704, + 0.7910315428824456 + ], + "closest_contact_pad_button": [ + 0.12405670434236526, + -0.37186840176582336, + 0.7699332237243652 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013158441195236792, + 0.02109831915808036 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2160774b640b431f82cb534f16f0e20c3576b6cf24461d6f1f5c3c6938a0482f", + "visual_seed": 4422972892347611666, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..15f41f8724eed12fead53f72bff4466e6ff20177 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "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": [ + 0.3194729105304954, + 0.2082316703279391, + 1.1551316926738049 + ], + "current_z": 1.1551316926738049, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.2985451852652392, + "gripper_z": 1.148378506562212, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3143002297129462, + 0.20317429998975017, + 1.148378506562212 + ], + "object_minus_gripper": [ + 0.005172680817549236, + 0.005057370338188927, + 0.006753186111592813 + ], + "object_to_gripper_xy": 0.007234198060451138, + "object_to_gripper_z": 0.006753186111592813, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3194729105304954, + 0.1840865941520544, + 1.1551316926738049 + ], + "finger_b": [ + 0.30814676206130664, + 0.2082316703279391, + 1.1551316926738049 + ], + "finger_midpoint": [ + 0.31380983629590103, + 0.19615913223999676, + 1.1551316926738049 + ], + "object_minus_finger_midpoint": [ + 0.00566307423459439, + 0.012072538087942342, + 0.0 + ], + "finger_gap": 0.02666957709986011, + "fingertip_max_gap": 0.09030897708702065, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013334788549930043, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1551316926738049, + "object_top_z": 1.2007969440503259, + "finger_top_clearance": 0.045665251376521, + "fingertip_min_top_clearance": 0.0136995754129563, + "object_projection_between_fingers": 0.8196433158051869, + "object_to_finger_line_xy": 0.010254032770897486, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04765448854351033, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6467473806808376, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27544828744967503, + -0.3155712681995687, + 0.8470190394640235 + ], + "target_position": [ + 0.2684329201316463, + -0.3155430233675947, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007015424176583948, + "xy_threshold": 0.08, + "gripper_dist": 0.18504232288599154, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470190394640235, + "min_z": 0.5730800627579278, + "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": 0.07566179206519125, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557250279472302, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15269409644472826, + "release_required_pad_clearance": 0.05278625139736151, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6180187787849765, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006754815578460693, + "max_z_decrease": 0.006754815578460693, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035181846388487606, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006754815578460693, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021286397459145564, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006754815578460693, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006754834558292882, + "max_button_displacement": 0.12, + "button_start": [ + 0.12413284927606581, + -0.3718044757843017, + 0.7768088579177856 + ], + "button_final": [ + 0.12413284927606581, + -0.3718044757843017, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12221243499123996, + -0.37365655575987583, + 0.8066256823832284 + ], + "closest_button": [ + 0.12411834299564359, + -0.37180027365684504, + 0.7715445756912231 + ], + "closest_ee_minus_button": [ + -0.001905908004403628, + -0.001856282103030793, + 0.03508110669200526 + ], + "button_min_z_position": [ + 0.1241168454289436, + -0.37180393934249867, + 0.770054042339325 + ], + "min_active_finger_to_button": 0.14756710552318072, + "closest_active_finger": [ + -0.018543973565101624, + -0.3564549684524536, + 0.8111585378646851 + ], + "closest_active_finger_button": [ + 0.12413701415061949, + -0.37180697917938227, + 0.7767710089683533 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14268098771572113, + 0.015352010726928655, + 0.03438752889633179 + ], + "min_contact_pad_to_button": 0.021286397459145564, + "closest_contact_pad": [ + 0.1241168454289436, + -0.37495907615492036, + 0.791105309011039 + ], + "closest_contact_pad_button": [ + 0.1241168454289436, + -0.37180393934249867, + 0.770054042339325 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0031551368124216883, + 0.021051266671714086 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5330469a4cbd7cb4f71c1df0a78802aa8138f8e8e511db56af718e5a16c24053", + "visual_seed": 2742040038548130865, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb16bc5e5ec61ed487d0b2398613044879288523 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "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": [ + 0.3229938719858711, + 0.20676928453373478, + 1.1551356195384452 + ], + "current_z": 1.1551356195384452, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.29854917173452444, + "gripper_z": 1.1483940653060385, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31775869647287425, + 0.20183792655018873, + 1.1483940653060385 + ], + "object_minus_gripper": [ + 0.005235175512996848, + 0.0049313579835460475, + 0.0067415542324067435 + ], + "object_to_gripper_xy": 0.007192034080409043, + "object_to_gripper_z": 0.0067415542324067435, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3229938719858711, + 0.1824015030695884, + 1.1551356195384452 + ], + "finger_b": [ + 0.3120838442237075, + 0.20676928453373478, + 1.1551356195384452 + ], + "finger_midpoint": [ + 0.3175388581047893, + 0.1945853938016616, + 1.1551356195384452 + ], + "object_minus_finger_midpoint": [ + 0.005455013881081772, + 0.012183890732073183, + 0.0 + ], + "finger_gap": 0.026698641899084975, + "fingertip_max_gap": 0.09024640140583653, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013349320949542474, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1551356195384452, + "object_top_z": 1.20079446207126, + "finger_top_clearance": 0.045658842532814825, + "fingertip_min_top_clearance": 0.013697652759844414, + "object_projection_between_fingers": 0.8330165726358352, + "object_to_finger_line_xy": 0.009957554143803974, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04762320070291827, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6985998712213931, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27232351864437676, + -0.3078568178116612, + 0.8470194513936788 + ], + "target_position": [ + 0.2644734811006948, + -0.3080249438978556, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007851837735083134, + "xy_threshold": 0.08, + "gripper_dist": 0.18535960675480007, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194513936788, + "min_z": 0.5730800627579278, + "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": 0.07547623894223875, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578025498704335, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15350765756194745, + "release_required_pad_clearance": 0.05289012749352168, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8204324401055684, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006476283073425293, + "max_z_decrease": 0.006476283073425293, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511828265745365, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006476283073425293, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02110808687389441, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006476283073425293, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0064763022129056365, + "max_button_displacement": 0.12, + "button_start": [ + 0.12017340958118439, + -0.36428639292716974, + 0.7768088579177856 + ], + "button_final": [ + 0.12017340958118439, + -0.36428639292716974, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11983436381045665, + -0.3631155573370845, + 0.8082736311362211 + ], + "closest_button": [ + 0.12016673386096954, + -0.3642895519733428, + 0.7731765508651733 + ], + "closest_ee_minus_button": [ + -0.0003323700505128979, + 0.0011739946362582798, + 0.03509708027104774 + ], + "button_min_z_position": [ + 0.12015774101018904, + -0.36428794264793385, + 0.7703325748443604 + ], + "min_active_finger_to_button": 0.14599665910051532, + "closest_active_finger": [ + -0.008331120014190674, + -0.42448145151138306, + 0.8106096386909485 + ], + "closest_active_finger_button": [ + 0.12017354369163513, + -0.3642880022525787, + 0.7762829065322876 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1285046637058258, + -0.06019344925880438, + 0.03432673215866089 + ], + "min_contact_pad_to_button": 0.02110808687389441, + "closest_contact_pad": [ + 0.12015774101018904, + -0.36444339253789265, + 0.7914400893074037 + ], + "closest_contact_pad_button": [ + 0.12015774101018904, + -0.36428794264793385, + 0.7703325748443604 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00015544988995880304, + 0.021107514463043375 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4d430e0898614a6d82568726b2254ec5e82ca0e11413b8c409a7b12806d8228b", + "visual_seed": 828958171830152062, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c9a638d0ac40fa9b9d4733d03c42bd93aafdc0df --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "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": [ + 0.32275117871625186, + 0.21358922587515375, + 1.1559356403612455 + ], + "current_z": 1.1559356403612455, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.29934913295267995, + "gripper_z": 1.1491993258313333, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31755888023355594, + 0.20868072462736942, + 1.1491993258313333 + ], + "object_minus_gripper": [ + 0.005192298482695923, + 0.00490850124778433, + 0.006736314529912191 + ], + "object_to_gripper_xy": 0.007145162561685123, + "object_to_gripper_z": 0.006736314529912191, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32275117871625186, + 0.18923903770960956, + 1.1559356403612455 + ], + "finger_b": [ + 0.31189047540549175, + 0.21358922587515375, + 1.1559356403612455 + ], + "finger_midpoint": [ + 0.31732082706087184, + 0.20141413179238166, + 1.1559356403612455 + ], + "object_minus_finger_midpoint": [ + 0.005430351655380028, + 0.012175094082772092, + 0.0 + ], + "finger_gap": 0.02666245562775049, + "fingertip_max_gap": 0.09022018605794349, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013331227813875232, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1559356403612455, + "object_top_z": 1.2016110599536765, + "finger_top_clearance": 0.04567541959243093, + "fingertip_min_top_clearance": 0.013702625877729246, + "object_projection_between_fingers": 0.8340735549902656, + "object_to_finger_line_xy": 0.009918822666577828, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04761009302897175, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.716880152946233, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26997339964718214, + -0.3152092233222432, + 0.8470196412290274 + ], + "target_position": [ + 0.26249533739886616, + -0.3153025151461359, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007478644152123697, + "xy_threshold": 0.08, + "gripper_dist": 0.1857665990010484, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196412290274, + "min_z": 0.5730800627579278, + "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": 0.07555166541831823, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08614682557363619, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15370239359414226, + "release_required_pad_clearance": 0.0530734127868181, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.175682168364406, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006867349147796631, + "max_z_decrease": 0.006867349147796631, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508189395511031, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006867349147796631, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021119853270499284, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006867349147796631, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006867367426559136, + "max_button_displacement": 0.12, + "button_start": [ + 0.11819526553153988, + -0.37156397104263306, + 0.7768088579177856 + ], + "button_final": [ + 0.11819526553153988, + -0.37156397104263306, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11716308664596398, + -0.37151421028260023, + 0.8078276993636608 + ], + "closest_button": [ + 0.11818570643663402, + -0.3715643584728241, + 0.7727607488632202 + ], + "closest_ee_minus_button": [ + -0.0010226197906700457, + 5.01481902238643e-05, + 0.03506695050044062 + ], + "button_min_z_position": [ + 0.11817942559719082, + -0.371563583612442, + 0.769941508769989 + ], + "min_active_finger_to_button": 0.14708872114540034, + "closest_active_finger": [ + -0.009739741683006287, + -0.4354538917541504, + 0.8109602928161621 + ], + "closest_active_finger_button": [ + 0.11819548904895778, + -0.37156641483306885, + 0.7765210866928101 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12793523073196406, + -0.06388747692108154, + 0.03443920612335205 + ], + "min_contact_pad_to_button": 0.021119853270499284, + "closest_contact_pad": [ + 0.11817942559719082, + -0.3725808813966547, + 0.7910368472926498 + ], + "closest_contact_pad_button": [ + 0.11817942559719082, + -0.371563583612442, + 0.769941508769989 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010172977842126674, + 0.021095338522660767 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4cd60661ae07b649bfe9be368876c53813e49f58d5710dcf155546f70557bd5", + "visual_seed": 7846667751754956844, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7204fe72af092552b9e8d44faccaaf97e0445030 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "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": [ + 0.3222649278202078, + 0.2093055740551895, + 1.1582879754420663 + ], + "current_z": 1.1582879754420663, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3017015276381455, + "gripper_z": 1.1515622904483387, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31708460832721275, + 0.20436436777039535, + 1.1515622904483387 + ], + "object_minus_gripper": [ + 0.005180319492995078, + 0.004941206284794164, + 0.00672568499372761 + ], + "object_to_gripper_xy": 0.007158996410000087, + "object_to_gripper_z": 0.00672568499372761, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3222649278202078, + 0.18493545190229646, + 1.1582879754420663 + ], + "finger_b": [ + 0.3113877141684528, + 0.2093055740551895, + 1.1582879754420663 + ], + "finger_midpoint": [ + 0.3168263209943303, + 0.197120512978743, + 1.1582879754420663 + ], + "object_minus_finger_midpoint": [ + 0.0054386068258775455, + 0.012185061076446513, + 0.0 + ], + "finger_gap": 0.026687387106512597, + "fingertip_max_gap": 0.09028401710457559, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013343693553256297, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1582879754420663, + "object_top_z": 1.2040028328018155, + "finger_top_clearance": 0.04571485735974923, + "fingertip_min_top_clearance": 0.013714457207924769, + "object_projection_between_fingers": 0.833879508358625, + "object_to_finger_line_xy": 0.009932745544493499, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0476420085522878, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7497716418663246, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27042915930327643, + -0.31420898634566236, + 0.8470195915246206 + ], + "target_position": [ + 0.2627099197338565, + -0.3145072345910062, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007724999129187607, + "xy_threshold": 0.08, + "gripper_dist": 0.18624289530864518, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195915246206, + "min_z": 0.5730800627579278, + "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": 0.07557586338833962, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864928361240868, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15409183571756346, + "release_required_pad_clearance": 0.0532464180620434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.513327750077077, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006934463977813721, + "max_z_decrease": 0.006934463977813721, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512114052170943, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006934463977813721, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021180385323223392, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006934463977813721, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006934483605392593, + "max_button_displacement": 0.12, + "button_start": [ + 0.11840984225273131, + -0.37076869606971735, + 0.7768088579177856 + ], + "button_final": [ + 0.11840984225273131, + -0.37076869606971735, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11638413627707714, + -0.3721134423956004, + 0.8076320135063972 + ], + "closest_button": [ + 0.11839942634105682, + -0.3707678020000457, + 0.7725945711135864 + ], + "closest_ee_minus_button": [ + -0.0020152900639796856, + -0.0013456403955546814, + 0.035037442392810814 + ], + "button_min_z_position": [ + 0.11839335411787033, + -0.37076810002326965, + 0.7698743939399719 + ], + "min_active_finger_to_button": 0.1480638463416072, + "closest_active_finger": [ + -0.025044932961463928, + -0.35846856236457825, + 0.8109771609306335 + ], + "closest_active_finger_button": [ + 0.11841027438640593, + -0.37077087163925165, + 0.7764495015144348 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14345520734786987, + 0.012302309274673406, + 0.03452765941619873 + ], + "min_contact_pad_to_button": 0.021180385323223392, + "closest_contact_pad": [ + 0.11839335411787033, + -0.37305260128523576, + 0.7909312165023694 + ], + "closest_contact_pad_button": [ + 0.11839335411787033, + -0.37076810002326965, + 0.7698743939399719 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00228450126196611, + 0.021056822562397493 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9bbf4d9c2843d34047f13b9cbe04026984586c9ed741264cd037c3450f9b03a6", + "visual_seed": 7156199487927232355, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d7b4541cad06149c15d305d78991e0721d8f89d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "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": [ + 0.31758206779729553, + 0.2038752877881106, + 1.1584887095248202 + ], + "current_z": 1.1584887095248202, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30190214251160985, + "gripper_z": 1.151764470386572, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3125135103711023, + 0.19900407925934682, + 1.151764470386572 + ], + "object_minus_gripper": [ + 0.005068557426193221, + 0.004871208528763771, + 0.006724239138248267 + ], + "object_to_gripper_xy": 0.007029861087768332, + "object_to_gripper_z": 0.006724239138248267, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31758206779729553, + 0.17952746081483972, + 1.1584887095248202 + ], + "finger_b": [ + 0.30688189232087026, + 0.2038752877881106, + 1.1584887095248202 + ], + "finger_midpoint": [ + 0.3122319800590829, + 0.19170137430147516, + 1.1584887095248202 + ], + "object_minus_finger_midpoint": [ + 0.0053500877382126055, + 0.012173913486635435, + 0.0 + ], + "finger_gap": 0.026595308487525185, + "fingertip_max_gap": 0.09038310988882134, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013297654243762582, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1584887095248202, + "object_top_z": 1.2042003622693165, + "finger_top_clearance": 0.04571165274449629, + "fingertip_min_top_clearance": 0.013713495823348854, + "object_projection_between_fingers": 0.8381279989718338, + "object_to_finger_line_xy": 0.009795939054658495, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04769155494441067, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6956390203633142, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27070507980834585, + -0.31027565582528094, + 0.8470192237613448 + ], + "target_position": [ + 0.26310029412865554, + -0.3103227039373233, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007604931213289803, + "xy_threshold": 0.08, + "gripper_dist": 0.1879333082139304, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192237613448, + "min_z": 0.5730800627579278, + "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": 0.07520241700261684, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557770286473258, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15660434788561814, + "release_required_pad_clearance": 0.05278885143236629, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6230640157199668, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006558716297149658, + "max_z_decrease": 0.006558716297149658, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035140615154125476, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006558716297149658, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021111663391550572, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006558716297149658, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006558736014748403, + "max_button_displacement": 0.12, + "button_start": [ + 0.11880022287368772, + -0.3665841519832611, + 0.7768088579177856 + ], + "button_final": [ + 0.11880022287368772, + -0.3665841519832611, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11891651837718484, + -0.364791684531886, + 0.8082181640941166 + ], + "closest_button": [ + 0.11879670619964597, + -0.36658772826194763, + 0.7731236815452576 + ], + "closest_ee_minus_button": [ + 0.00011981217753886941, + 0.0017960437300616472, + 0.03509448254885905 + ], + "button_min_z_position": [ + 0.11878418922424315, + -0.3665854036808014, + 0.770250141620636 + ], + "min_active_finger_to_button": 0.14534662300997997, + "closest_active_finger": [ + -0.008990094065666199, + -0.4267098307609558, + 0.8111639022827148 + ], + "closest_active_finger_button": [ + 0.11879985034465787, + -0.3665860891342163, + 0.7768054008483887 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12778994441032407, + -0.0601237416267395, + 0.03435850143432617 + ], + "min_contact_pad_to_button": 0.021111663391550572, + "closest_contact_pad": [ + 0.11878418922424315, + -0.3665854036808014, + 0.7913618050121866 + ], + "closest_contact_pad_button": [ + 0.11878418922424315, + -0.3665854036808014, + 0.770250141620636 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021111663391550572 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01ee540f8d7099b9429e36c0a14e4eb80b85f1b4a750b1e1babee8d9a69c1d25", + "visual_seed": 7394436384976378326, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5bf4815f50d199a8cbf2deea015de70cc2230394 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "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": [ + 0.3203940498047257, + 0.20476516262848138, + 1.1568125861288996 + ], + "current_z": 1.1568125861288996, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.30022619792962346, + "gripper_z": 1.1500764060369206, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3152025368616511, + 0.1998009092761885, + 1.1500764060369206 + ], + "object_minus_gripper": [ + 0.005191512943074572, + 0.004964253352292891, + 0.0067361800919789605 + ], + "object_to_gripper_xy": 0.007183008978406056, + "object_to_gripper_z": 0.0067361800919789605, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3203940498047257, + 0.18041641998869953, + 1.1568125861288996 + ], + "finger_b": [ + 0.3094448884861698, + 0.20476516262848138, + 1.1568125861288996 + ], + "finger_midpoint": [ + 0.3149194691454478, + 0.19259079130859047, + 1.1568125861288996 + ], + "object_minus_finger_midpoint": [ + 0.005474580659277917, + 0.012174371319890909, + 0.0 + ], + "finger_gap": 0.02669729202968142, + "fingertip_max_gap": 0.09031229703379048, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013348646014840686, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1568125861288996, + "object_top_z": 1.20250336772407, + "finger_top_clearance": 0.04569078159517037, + "fingertip_min_top_clearance": 0.01370723447855111, + "object_projection_between_fingers": 0.831799499104762, + "object_to_finger_line_xy": 0.009985968268638417, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047656148516895244, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7194759410676513, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2687806875996449, + -0.313319097036424, + 0.8470197089944538 + ], + "target_position": [ + 0.2610628349926181, + -0.3135957428475191, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0077228091889277335, + "xy_threshold": 0.08, + "gripper_dist": 0.18544643812730136, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197089944538, + "min_z": 0.5730800627579278, + "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": 0.07568555354862035, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08644705112765165, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15306344838542416, + "release_required_pad_clearance": 0.05322352556382583, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4655048364863845, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006646215915679932, + "max_z_decrease": 0.006646215915679932, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035112410880981604, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006646215915679932, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02111121618783185, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006646215915679932, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006646234928481363, + "max_button_displacement": 0.12, + "button_start": [ + 0.11676275730133057, + -0.3698571920394897, + 0.7768088579177856 + ], + "button_final": [ + 0.11676275730133057, + -0.3698571920394897, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11650848062166472, + -0.36856378986966587, + 0.8081540175675689 + ], + "closest_button": [ + 0.11675901710987091, + -0.36985909938812256, + 0.7730664014816284 + ], + "closest_ee_minus_button": [ + -0.00025053648820619334, + 0.0012953095184566887, + 0.035087616085940465 + ], + "button_min_z_position": [ + 0.1167469024658203, + -0.36985835433006287, + 0.7701626420021057 + ], + "min_active_finger_to_button": 0.14589199994420213, + "closest_active_finger": [ + -0.011396154761314392, + -0.430492639541626, + 0.8111274838447571 + ], + "closest_active_finger_button": [ + 0.11676745116710661, + -0.3698567152023315, + 0.7767494320869446 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12816360592842102, + -0.06063592433929449, + 0.0343780517578125 + ], + "min_contact_pad_to_button": 0.02111121618783185, + "closest_contact_pad": [ + 0.1167469024658203, + -0.36985835433006287, + 0.7912738581899376 + ], + "closest_contact_pad_button": [ + 0.1167469024658203, + -0.36985835433006287, + 0.7701626420021057 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02111121618783185 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "10d88981d24b7098383df4fa525cec483a7099426dfd7b314581e6a160cc756d", + "visual_seed": 583740127952093666, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..00dc4937967c243372d869013514f6fc3f77b14a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "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": [ + 0.3219810162118192, + 0.21047507840351395, + 1.1593208157663135 + ], + "current_z": 1.1593208157663135, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3027341891484584, + "gripper_z": 1.1525898788143423, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.317016481311191, + 0.20534025654669652, + 1.1525898788143423 + ], + "object_minus_gripper": [ + 0.004964534900628204, + 0.005134821856817434, + 0.006730936951971245 + ], + "object_to_gripper_xy": 0.00714233871227104, + "object_to_gripper_z": 0.006730936951971245, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3219810162118192, + 0.1864078272666546, + 1.1593208157663135 + ], + "finger_b": [ + 0.3106096529967864, + 0.21047507840351395, + 1.1593208157663135 + ], + "finger_midpoint": [ + 0.3162953346043028, + 0.1984414528350843, + 1.1593208157663135 + ], + "object_minus_finger_midpoint": [ + 0.0056856816075163685, + 0.012033625568429657, + 0.0 + ], + "finger_gap": 0.02661842366957251, + "fingertip_max_gap": 0.09044319143709825, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013309211834786231, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1593208157663135, + "object_top_z": 1.205067266293585, + "finger_top_clearance": 0.045746450527271554, + "fingertip_min_top_clearance": 0.013723935158181499, + "object_projection_between_fingers": 0.817501038735214, + "object_to_finger_line_xy": 0.010281504932896483, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772159571854913, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.802617569267743, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 389, + "max_stable_success_frames": 389, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2692360949372068, + -0.3106024607759027, + 0.847019857430554 + ], + "target_position": [ + 0.26122228431003264, + -0.3109658222212799, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00802204414773417, + "xy_threshold": 0.08, + "gripper_dist": 0.18540115298135412, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019857430554, + "min_z": 0.5730800627579278, + "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": 0.07543551776115494, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08565615159871955, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15368525478505596, + "release_required_pad_clearance": 0.052828075799359775, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6988512938918144, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006596684455871582, + "max_z_decrease": 0.006596684455871582, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512146676808592, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006596684455871582, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021117640559404238, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006596684455871582, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006596703563065836, + "max_button_displacement": 0.12, + "button_start": [ + 0.11692220717668532, + -0.3672272861003875, + 0.7768088579177856 + ], + "button_final": [ + 0.11692220717668532, + -0.3672272861003875, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11768886313158078, + -0.3658522410688357, + 0.8081913968496467 + ], + "closest_button": [ + 0.11691876500844954, + -0.36723071336746216, + 0.7731054425239563 + ], + "closest_ee_minus_button": [ + 0.0007700981231312382, + 0.0013784722986264764, + 0.035085954325690394 + ], + "button_min_z_position": [ + 0.11690637469291687, + -0.3672284781932831, + 0.7702121734619141 + ], + "min_active_finger_to_button": 0.14495565985914305, + "closest_active_finger": [ + -0.009756959974765778, + -0.4287176728248596, + 0.8111926317214966 + ], + "closest_active_finger_button": [ + 0.11692400276660918, + -0.36722832918167114, + 0.7767958641052246 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12668096274137497, + -0.06148934364318848, + 0.03439676761627197 + ], + "min_contact_pad_to_button": 0.021117640559404238, + "closest_contact_pad": [ + 0.11690637469291687, + -0.3672284781932831, + 0.7913298140213183 + ], + "closest_contact_pad_button": [ + 0.11690637469291687, + -0.3672284781932831, + 0.7702121734619141 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021117640559404238 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bf4862ff59f68e9795ffffd9eb00c6e56fbd9c5fa657f9a61e41e9dea124343b", + "visual_seed": 294165301677931359, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..82ca6d015786f8cfcc98ea19a7dad5154193a5ea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "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": [ + 0.32236639822467644, + 0.20479529520395434, + 1.1589304152598312 + ], + "current_z": 1.1589304152598312, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30234384824662086, + "gripper_z": 1.1522116367910051, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31728040057331097, + 0.19994253658090516, + 1.1522116367910051 + ], + "object_minus_gripper": [ + 0.00508599765136547, + 0.00485275862304918, + 0.00671877846882607 + ], + "object_to_gripper_xy": 0.007029696889857574, + "object_to_gripper_z": 0.00671877846882607, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32236639822467644, + 0.18043479722009703, + 1.1589304152598312 + ], + "finger_b": [ + 0.31169172226698816, + 0.20479529520395434, + 1.1589304152598312 + ], + "finger_midpoint": [ + 0.31702906024583233, + 0.1926150462120257, + 1.1589304152598312 + ], + "object_minus_finger_midpoint": [ + 0.005337337978844114, + 0.012180248991928655, + 0.0 + ], + "finger_gap": 0.026596664618390862, + "fingertip_max_gap": 0.0903288752083862, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01329833230919542, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1589304152598312, + "object_top_z": 1.2046635456374781, + "finger_top_clearance": 0.045733130377646924, + "fingertip_min_top_clearance": 0.013719939113294078, + "object_projection_between_fingers": 0.8389150202114554, + "object_to_finger_line_xy": 0.009777181683367359, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0476644376041931, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7741833539881702, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2735504821237518, + -0.3080558383312171, + 0.8470196651564187 + ], + "target_position": [ + 0.2655332538963915, + -0.3084454329249804, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008026688756708648, + "xy_threshold": 0.08, + "gripper_dist": 0.1877597788185887, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196651564187, + "min_z": 0.5730800627579278, + "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": 0.07538737034370346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08594464226602162, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15597220376407453, + "release_required_pad_clearance": 0.05297232113301081, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.979578481904948, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0066356658935546875, + "max_z_decrease": 0.0066356658935546875, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510318643707495, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0066356658935546875, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02112730663881184, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0066356658935546875, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006635685589699573, + "max_button_displacement": 0.12, + "button_start": [ + 0.1212331801652908, + -0.3647069036960602, + 0.7768088579177856 + ], + "button_final": [ + 0.1212331801652908, + -0.3647069036960602, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1215500775467202, + -0.3643695844358165, + 0.8081613222725252 + ], + "closest_button": [ + 0.12122698873281476, + -0.3647102117538452, + 0.7730612754821777 + ], + "closest_ee_minus_button": [ + 0.0003230888139054422, + 0.0003406273180286967, + 0.035100046790347506 + ], + "button_min_z_position": [ + 0.12121708691120146, + -0.3647084534168243, + 0.770173192024231 + ], + "min_active_finger_to_button": 0.14576551514465205, + "closest_active_finger": [ + -0.006545424461364746, + -0.42587971687316895, + 0.8110395073890686 + ], + "closest_active_finger_button": [ + 0.12123735994100568, + -0.3647066652774811, + 0.7767320275306702 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12778278440237043, + -0.061173051595687866, + 0.03430747985839844 + ], + "min_contact_pad_to_button": 0.02112730663881184, + "closest_contact_pad": [ + 0.12121708691120146, + -0.365680433186609, + 0.7912781284405652 + ], + "closest_contact_pad_button": [ + 0.12121708691120146, + -0.3647084534168243, + 0.770173192024231 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009719797697846921, + 0.021104936416334263 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "98899d663a91cbf4d679e32d6998aeda81ecb9e4a78e4db7db1ba1cbc102eeea", + "visual_seed": 8544628845047683448, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..68593fc8fd3ef970a205d4ab8bf732f0845ac328 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "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": [ + 0.32270212488307765, + 0.2050493200003721, + 1.157409791639542 + ], + "current_z": 1.157409791639542, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3008232246263317, + "gripper_z": 1.150680130094133, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31773124049035706, + 0.19990754762033885, + 1.150680130094133 + ], + "object_minus_gripper": [ + 0.004970884392720587, + 0.005141772380033244, + 0.006729661545409105 + ], + "object_to_gripper_xy": 0.007151749076545251, + "object_to_gripper_z": 0.006729661545409105, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32270212488307765, + 0.18097375003685276, + 1.157409791639542 + ], + "finger_b": [ + 0.3113245240913109, + 0.2050493200003721, + 1.157409791639542 + ], + "finger_midpoint": [ + 0.31701332448719427, + 0.19301153501861243, + 1.157409791639542 + ], + "object_minus_finger_midpoint": [ + 0.0056888003958833755, + 0.01203778498175967, + 0.0 + ], + "finger_gap": 0.02662860996832403, + "fingertip_max_gap": 0.09042931514429689, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013314304984162015, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157409791639542, + "object_top_z": 1.2031686655329332, + "finger_top_clearance": 0.04575887389339117, + "fingertip_min_top_clearance": 0.013727662168017352, + "object_projection_between_fingers": 0.8174405200514229, + "object_to_finger_line_xy": 0.010286763905626927, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04771465757214845, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8099519960280828, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 386, + "max_stable_success_frames": 386, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2722146899479552, + -0.30747090552559075, + 0.8470192490517996 + ], + "target_position": [ + 0.2641053697681201, + -0.30805639929033535, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008130429061718448, + "xy_threshold": 0.08, + "gripper_dist": 0.1849610441369245, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192490517996, + "min_z": 0.5730800627579278, + "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": 0.07564158051649914, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601871802728471, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15276412650406138, + "release_required_pad_clearance": 0.05300935901364236, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0505184300241404, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006614208221435547, + "max_z_decrease": 0.006614208221435547, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515512911209382, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006614208221435547, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021268273776367565, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006614208221435547, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006614224773191875, + "max_button_displacement": 0.12, + "button_start": [ + 0.11980529874563214, + -0.36431786417961115, + 0.7768088579177856 + ], + "button_final": [ + 0.11980529874563214, + -0.36431786417961115, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11802165064579248, + -0.36603913027700324, + 0.8067284458551927 + ], + "closest_button": [ + 0.11979174613952634, + -0.36431616544723505, + 0.7716602087020874 + ], + "closest_ee_minus_button": [ + -0.0017700954937338587, + -0.001722964829768192, + 0.03506823715310525 + ], + "button_min_z_position": [ + 0.11979050934314724, + -0.36431738734245295, + 0.7701946496963501 + ], + "min_active_finger_to_button": 0.14752972306680223, + "closest_active_finger": [ + -0.022955670952796936, + -0.3504166603088379, + 0.8112093210220337 + ], + "closest_active_finger_button": [ + 0.11981035023927686, + -0.36432072520256037, + 0.776719331741333 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1427660211920738, + 0.013904064893722479, + 0.034489989280700684 + ], + "min_contact_pad_to_button": 0.021268273776367565, + "closest_contact_pad": [ + 0.11979050934314724, + -0.36720625748094654, + 0.7912658124252895 + ], + "closest_contact_pad_button": [ + 0.11979050934314724, + -0.36431738734245295, + 0.7701946496963501 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028888701384935933, + 0.021071162728939385 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99a409258d9a2768d9e19e608d1410dfd278c2925a1f5c6156f578ff2782329b", + "visual_seed": 1353199813150662015, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..04af589a38e6367558222ad14ba3e376b5190323 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "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": [ + 0.3236776603473186, + 0.20610968034297708, + 1.158729332138746 + ], + "current_z": 1.158729332138746, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.30214270552089073, + "gripper_z": 1.1520100263532143, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31849696436518193, + 0.2011469730657141, + 1.1520100263532143 + ], + "object_minus_gripper": [ + 0.005180695982136663, + 0.004962707277262973, + 0.006719305785531704 + ], + "object_to_gripper_xy": 0.007174125338961247, + "object_to_gripper_z": 0.006719305785531704, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3236776603473186, + 0.181774652897772, + 1.158729332138746 + ], + "finger_b": [ + 0.3127296879569309, + 0.20610968034297708, + 1.158729332138746 + ], + "finger_midpoint": [ + 0.31820367415212475, + 0.19394216662037456, + 1.158729332138746 + ], + "object_minus_finger_midpoint": [ + 0.005473986195193847, + 0.012167513722602524, + 0.0 + ], + "finger_gap": 0.026684296134985002, + "fingertip_max_gap": 0.09036237369648062, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013342148067492489, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158729332138746, + "object_top_z": 1.2044528941247334, + "finger_top_clearance": 0.04572356198598748, + "fingertip_min_top_clearance": 0.013717068595796245, + "object_projection_between_fingers": 0.8316721859426175, + "object_to_finger_line_xy": 0.009984119769984779, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768118684824031, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7095950119013771, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2689378285339692, + -0.3081418148854662, + 0.8470194179030434 + ], + "target_position": [ + 0.2616235752874724, + -0.3080819878759596, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0073144979202236235, + "xy_threshold": 0.08, + "gripper_dist": 0.18791056177738108, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194179030434, + "min_z": 0.5730800627579278, + "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": 0.07555072249420569, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861940240627616, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15565488850909245, + "release_required_pad_clearance": 0.0530970120313808, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2213950986257904, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006566822528839111, + "max_z_decrease": 0.006566822528839111, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035100473741937484, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006566822528839111, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021245721362171822, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006566822528839111, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00656684215850007, + "max_button_displacement": 0.12, + "button_start": [ + 0.1173235028982162, + -0.36434343457221985, + 0.7768088579177856 + ], + "button_final": [ + 0.1173235028982162, + -0.36434343457221985, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11747331382253975, + -0.3656455430875377, + 0.8080089892256452 + ], + "closest_button": [ + 0.11731332540512081, + -0.36434435844421387, + 0.7729330062866211 + ], + "closest_ee_minus_button": [ + 0.00015998841741894643, + -0.0013011846433238494, + 0.03507598293902414 + ], + "button_min_z_position": [ + 0.11730744689702984, + -0.3643435537815094, + 0.7702420353889465 + ], + "min_active_finger_to_button": 0.14594451701343064, + "closest_active_finger": [ + -0.02381940931081772, + -0.3506615459918976, + 0.8107655048370361 + ], + "closest_active_finger_button": [ + 0.11732543259859081, + -0.3643457591533661, + 0.7762593030929565 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1411448419094085, + 0.013684213161468506, + 0.03450620174407959 + ], + "min_contact_pad_to_button": 0.021245721362171822, + "closest_contact_pad": [ + 0.11730744689702984, + -0.36673955071862324, + 0.7913522195396446 + ], + "closest_contact_pad_button": [ + 0.11730744689702984, + -0.3643435537815094, + 0.7702420353889465 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023959969371138423, + 0.021110184150698097 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "84af77365ea16680af119cc108528edbb9e01957936b5591d4e710f655a74242", + "visual_seed": 3271135558085925925, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..180eb2dc621f48658ebe5fc009f0f6f8ef847c89 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "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": [ + 0.3248633058428514, + 0.20839279010432613, + 1.1580857246204281 + ], + "current_z": 1.1580857246204281, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30149927681650734, + "gripper_z": 1.1513854950142326, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3196747410011942, + 0.2034934894860697, + 1.1513854950142326 + ], + "object_minus_gripper": [ + 0.005188564841657195, + 0.004899300618256414, + 0.00670022960619554 + ], + "object_to_gripper_xy": 0.007136130020124972, + "object_to_gripper_z": 0.00670022960619554, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3248633058428514, + 0.18394997290685552, + 1.1580857246204281 + ], + "finger_b": [ + 0.31413453536212865, + 0.20839279010432613, + 1.1580857246204281 + ], + "finger_midpoint": [ + 0.31949892060249, + 0.19617138150559082, + 1.1580857246204281 + ], + "object_minus_finger_midpoint": [ + 0.005364385240361369, + 0.0122214085987353, + 0.0 + ], + "finger_gap": 0.02669377883659397, + "fingertip_max_gap": 0.09036160820781877, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013346889418296985, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1580857246204281, + "object_top_z": 1.2038491872290846, + "finger_top_clearance": 0.04576346260865649, + "fingertip_min_top_clearance": 0.013729038782596981, + "object_projection_between_fingers": 0.8384601060970728, + "object_to_finger_line_xy": 0.00982406339766413, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768080410390939, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8155346834162617, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27230429392968963, + -0.31022224566051726, + 0.8470195330589643 + ], + "target_position": [ + 0.2643071461672059, + -0.31052421830712884, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008002846981812164, + "xy_threshold": 0.08, + "gripper_dist": 0.1892011803809419, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195330589643, + "min_z": 0.5730800627579278, + "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": 0.07523359199015113, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08565556446629484, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15782263311161498, + "release_required_pad_clearance": 0.05282778223314742, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6999717062665031, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006523191928863525, + "max_z_decrease": 0.006523191928863525, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035137516935459155, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006523191928863525, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021104171117714707, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006523191928863525, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006523210233669418, + "max_button_displacement": 0.12, + "button_start": [ + 0.12000707536935805, + -0.3667856752872467, + 0.7768088579177856 + ], + "button_final": [ + 0.12000707536935805, + -0.3667856752872467, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11815071589482071, + -0.36653050648902, + 0.8069758287324342 + ], + "closest_button": [ + 0.11999604851007459, + -0.3667843639850616, + 0.7718877196311951 + ], + "closest_ee_minus_button": [ + -0.0018453326152538807, + 0.00025385749604156516, + 0.03508810910123916 + ], + "button_min_z_position": [ + 0.11999162286520003, + -0.366785854101181, + 0.7702856659889221 + ], + "min_active_finger_to_button": 0.14751513627734728, + "closest_active_finger": [ + -0.009983129799365997, + -0.4274807870388031, + 0.8111371994018555 + ], + "closest_active_finger_button": [ + 0.12000826001167295, + -0.3667879998683929, + 0.7767956852912903 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12999138981103894, + -0.06069278717041021, + 0.034341514110565186 + ], + "min_contact_pad_to_button": 0.021104171117714707, + "closest_contact_pad": [ + 0.11999162286520003, + -0.3679407158117155, + 0.7913582152650616 + ], + "closest_contact_pad_button": [ + 0.11999162286520003, + -0.366785854101181, + 0.7702856659889221 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011548617105345271, + 0.02107254927613944 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09dd6268cf16f4646a02dc6ef5af1afa71d7bc0232abceeb6069816b888c9a11", + "visual_seed": 4620514609315400669, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..006ee1bf1f8ff210d7b0620a269481db61b0bb96 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "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": [ + 0.3222792159507042, + 0.2067025309338309, + 1.1590762799416137 + ], + "current_z": 1.1590762799416137, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3024897725330481, + "gripper_z": 1.1523476695103345, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3173119938093777, + 0.20156582251889665, + 1.1523476695103345 + ], + "object_minus_gripper": [ + 0.004967222141326499, + 0.0051367084149342435, + 0.006728610431279147 + ], + "object_to_gripper_xy": 0.007145562898844323, + "object_to_gripper_z": 0.006728610431279147, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3222792159507042, + 0.18262392981960784, + 1.1590762799416137 + ], + "finger_b": [ + 0.3109163277429212, + 0.2067025309338309, + 1.1590762799416137 + ], + "finger_midpoint": [ + 0.3165977718468127, + 0.19466323037671937, + 1.1590762799416137 + ], + "object_minus_finger_midpoint": [ + 0.0056814441038914865, + 0.012039300557111526, + 0.0 + ], + "finger_gap": 0.026625068263582668, + "fingertip_max_gap": 0.09040623013539292, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013312534131791334, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1590762799416137, + "object_top_z": 1.2048360715919977, + "finger_top_clearance": 0.04575979165038402, + "fingertip_min_top_clearance": 0.013727937495115205, + "object_projection_between_fingers": 0.8178639104579457, + "object_to_finger_line_xy": 0.01027612210988937, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047703115067696464, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8089738246230149, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 389, + "max_stable_success_frames": 389, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2748764644524627, + -0.31331980111462127, + 0.847019778187176 + ], + "target_position": [ + 0.266782655113025, + -0.3140705430912518, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008128552339663208, + "xy_threshold": 0.08, + "gripper_dist": 0.18718653280818284, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019778187176, + "min_z": 0.5730800627579278, + "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": 0.0756286491515627, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558455480929807, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15509395484285657, + "release_required_pad_clearance": 0.052792277404649035, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6305573035459808, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006650269031524658, + "max_z_decrease": 0.006650269031524658, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516668849745069, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006650269031524658, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021267684454324937, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006650269031524658, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006650285260138573, + "max_button_displacement": 0.12, + "button_start": [ + 0.12248258292675017, + -0.37033200263977045, + 0.7768088579177856 + ], + "button_final": [ + 0.12248258292675017, + -0.37033200263977045, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12060823708059526, + -0.37216929285473904, + 0.8067695267377448 + ], + "closest_button": [ + 0.12246913462877272, + -0.370329737663269, + 0.7717003226280212 + ], + "closest_ee_minus_button": [ + -0.001860897548177462, + -0.0018395551914700548, + 0.035069204109723584 + ], + "button_min_z_position": [ + 0.12246792018413542, + -0.3703310787677764, + 0.770158588886261 + ], + "min_active_finger_to_button": 0.14761317296150372, + "closest_active_finger": [ + -0.020435325801372528, + -0.35713666677474976, + 0.8107920289039612 + ], + "closest_active_finger_button": [ + 0.12248378247022629, + -0.3703341186046599, + 0.776301383972168 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14291910827159882, + 0.013197451829910167, + 0.03449064493179321 + ], + "min_contact_pad_to_button": 0.021267684454324937, + "closest_contact_pad": [ + 0.12246792018413542, + -0.37326914458578353, + 0.7912223533004817 + ], + "closest_contact_pad_button": [ + 0.12246792018413542, + -0.3703310787677764, + 0.770158588886261 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029380658180071517, + 0.021063764414220754 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3a8f45727adbf461882e2e207bb7f7db4fe6cdd614453d4fba9e4f39d2b01b91", + "visual_seed": 5016228021272635373, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2305bfecab2f1f4a604b9793189b4d9eac35756c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "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": [ + 0.3264941094226447, + 0.2125755631480256, + 1.1585550518963157 + ], + "current_z": 1.1585550518963157, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30196848488310535, + "gripper_z": 1.1518530527416544, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32155596743231596, + 0.20749598543313885, + 1.1518530527416544 + ], + "object_minus_gripper": [ + 0.004938141990328715, + 0.005079577714886735, + 0.006701999154661298 + ], + "object_to_gripper_xy": 0.00708430349986656, + "object_to_gripper_z": 0.006701999154661298, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3264941094226447, + 0.18862037419671807, + 1.1585550518963157 + ], + "finger_b": [ + 0.3150907133031825, + 0.2125755631480256, + 1.1585550518963157 + ], + "finger_midpoint": [ + 0.3207924113629136, + 0.20059796867237184, + 1.1585550518963157 + ], + "object_minus_finger_midpoint": [ + 0.005701698059731086, + 0.011977594475653747, + 0.0 + ], + "finger_gap": 0.026530897473515874, + "fingertip_max_gap": 0.09066180691747969, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013265448736757923, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1585550518963157, + "object_top_z": 1.2043761520505551, + "finger_top_clearance": 0.04582110015423946, + "fingertip_min_top_clearance": 0.013746330046271803, + "object_projection_between_fingers": 0.8152584688854283, + "object_to_finger_line_xy": 0.01029631617253102, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047830903458739846, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9160970210661205, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27766633686907083, + -0.30789819307945454, + 0.8470198313785623 + ], + "target_position": [ + 0.2705705910555457, + -0.3079311602860142, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0070958223967957125, + "xy_threshold": 0.08, + "gripper_dist": 0.18571441364043553, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198313785623, + "min_z": 0.5730800627579278, + "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": 0.07577038137503934, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548796844574867, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1531107873850269, + "release_required_pad_clearance": 0.05274398422287434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5352151730917756, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006901562213897705, + "max_z_decrease": 0.006901562213897705, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035116053353908314, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006901562213897705, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021218500743267296, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006901562213897705, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006901580073866487, + "max_button_displacement": 0.12, + "button_start": [ + 0.12627051770687103, + -0.36419260501861567, + 0.7768088579177856 + ], + "button_final": [ + 0.12627051770687103, + -0.36419260501861567, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1262953755520691, + -0.3653053237206883, + 0.8079204568864146 + ], + "closest_button": [ + 0.12626169621944427, + -0.3641954660415649, + 0.7728219628334045 + ], + "closest_ee_minus_button": [ + 3.367933262482525e-05, + -0.001109857679123416, + 0.03509849405301002 + ], + "button_min_z_position": [ + 0.1262548714876175, + -0.3641939163208008, + 0.7699072957038879 + ], + "min_active_finger_to_button": 0.14603800814157772, + "closest_active_finger": [ + -0.014813505113124847, + -0.34861496090888977, + 0.8107928037643433 + ], + "closest_active_finger_button": [ + 0.126270592212677, + -0.36419385671615595, + 0.7764464020729065 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14108409732580185, + 0.01557889580726618, + 0.03434640169143677 + ], + "min_contact_pad_to_button": 0.021218500743267296, + "closest_contact_pad": [ + 0.1262548714876175, + -0.3665185672293336, + 0.7909980702734833 + ], + "closest_contact_pad_button": [ + 0.1262548714876175, + -0.3641939163208008, + 0.7699072957038879 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023246509085328437, + 0.021090774569595405 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9a7f22b1bec126342c5d1bb7ebe24cb53ae3fcf683573dbd79f62144ac0b2500", + "visual_seed": 362721733590531862, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..46d59eda62f5764570e7865c99daeab90401f0ef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "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": [ + 0.3169311594564581, + 0.20407383878023866, + 1.1571534035256035 + ], + "current_z": 1.1571534035256035, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30056683651239313, + "gripper_z": 1.1504238185411875, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31195423220875806, + 0.19910735007491032, + 1.1504238185411875 + ], + "object_minus_gripper": [ + 0.004976927247700047, + 0.004966488705328342, + 0.006729584984416004 + ], + "object_to_gripper_xy": 0.007031060722896167, + "object_to_gripper_z": 0.006729584984416004, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3169311594564581, + 0.1799695416845016, + 1.1571534035256035 + ], + "finger_b": [ + 0.3058515086989464, + 0.20407383878023866, + 1.1571534035256035 + ], + "finger_midpoint": [ + 0.31139133407770225, + 0.19202169023237015, + 1.1571534035256035 + ], + "object_minus_finger_midpoint": [ + 0.005539825378755858, + 0.012052148547868513, + 0.0 + ], + "finger_gap": 0.02652877304716499, + "fingertip_max_gap": 0.09032744907662185, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013264386523582482, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1571534035256035, + "object_top_z": 1.2028602869019362, + "finger_top_clearance": 0.045706883376332774, + "fingertip_min_top_clearance": 0.013712065012899866, + "object_projection_between_fingers": 0.8255713523892376, + "object_to_finger_line_xy": 0.010067076720859153, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766372453831093, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7417296907555604, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2709143217938057, + -0.31095786836199807, + 0.8470195649490229 + ], + "target_position": [ + 0.2630672176861045, + -0.3112707704847167, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00785334009294787, + "xy_threshold": 0.08, + "gripper_dist": 0.18655027199509255, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195649490229, + "min_z": 0.5730800627579278, + "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": 0.0752010200381334, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544438133480835, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1554248954307709, + "release_required_pad_clearance": 0.052722190667404176, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4973207296648342, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0066124796867370605, + "max_z_decrease": 0.0066124796867370605, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510244638999011, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0066124796867370605, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02110897460822424, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0066124796867370605, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006612496260650826, + "max_button_displacement": 0.12, + "button_start": [ + 0.11876714229583737, + -0.3675322234630584, + 0.7768088579177856 + ], + "button_final": [ + 0.11876714229583737, + -0.3675322234630584, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11775767939203557, + -0.36676490296873354, + 0.808021283435681 + ], + "closest_button": [ + 0.1187559515237808, + -0.36753425002098083, + 0.7729414701461792 + ], + "closest_ee_minus_button": [ + -0.0009982721317452203, + 0.0007693470522472934, + 0.03507981328950183 + ], + "button_min_z_position": [ + 0.11875233799219129, + -0.3675323724746704, + 0.7701963782310486 + ], + "min_active_finger_to_button": 0.1467414097024144, + "closest_active_finger": [ + -0.009758710861206055, + -0.42943075299263, + 0.8111709952354431 + ], + "closest_active_finger_button": [ + 0.11876937747001645, + -0.3675332963466644, + 0.776786744594574 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1285280883312225, + -0.06189745664596563, + 0.03438425064086914 + ], + "min_contact_pad_to_button": 0.02110897460822424, + "closest_contact_pad": [ + 0.11875233799219129, + -0.36798356038888935, + 0.7913005303930455 + ], + "closest_contact_pad_button": [ + 0.11875233799219129, + -0.3675323724746704, + 0.7701963782310486 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00045118791421894233, + 0.021104152161996903 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "abfc3ea8a136323d989a29f9357f5cac812672d6f464f936b328c7e4f19a185a", + "visual_seed": 2911374949926361908, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ff49676aea5040d1f4e058ef5a5ec93660f5d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "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": [ + 0.32636405377515976, + 0.2120727651115155, + 1.1573215579627498 + ], + "current_z": 1.1573215579627498, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.3007351697634737, + "gripper_z": 1.1505984003766596, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32132558130326155, + 0.20707034658071627, + 1.1505984003766596 + ], + "object_minus_gripper": [ + 0.005038472471898203, + 0.005002418530799219, + 0.0067231575860902115 + ], + "object_to_gripper_xy": 0.007100027887787442, + "object_to_gripper_z": 0.0067231575860902115, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32636405377515976, + 0.18792865042539053, + 1.1573215579627498 + ], + "finger_b": [ + 0.3152241262390823, + 0.2120727651115155, + 1.1573215579627498 + ], + "finger_midpoint": [ + 0.320794090007121, + 0.20000070776845302, + 1.1573215579627498 + ], + "object_minus_finger_midpoint": [ + 0.005569963768038755, + 0.012072057343062464, + 0.0 + ], + "finger_gap": 0.026590153431031785, + "fingertip_max_gap": 0.09042593188978679, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013295076715515892, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1573215579627498, + "object_top_z": 1.2030941749892712, + "finger_top_clearance": 0.045772617026521356, + "fingertip_min_top_clearance": 0.013731785107956406, + "object_projection_between_fingers": 0.8244814408821036, + "object_to_finger_line_xy": 0.010115161190167612, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047712965944893396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.884692175754637, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 379, + "max_stable_success_frames": 379, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2752457818377264, + -0.31146088749296896, + 0.8470195371068089 + ], + "target_position": [ + 0.2676118744569228, + -0.31174426352215384, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007639165129292884, + "xy_threshold": 0.08, + "gripper_dist": 0.18784258390681552, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195371068089, + "min_z": 0.5730800627579278, + "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": 0.0755624092577822, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08545745433410058, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15576200851194594, + "release_required_pad_clearance": 0.05272872716705029, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5097556806508763, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006964385509490967, + "max_z_decrease": 0.006964385509490967, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518354645380733, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006964385509490967, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021111591053186732, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006964385509490967, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006964404423213327, + "max_button_displacement": 0.12, + "button_start": [ + 0.12331180274486539, + -0.36800572276115406, + 0.7768088579177856 + ], + "button_final": [ + 0.12331180274486539, + -0.36800572276115406, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12544423124447826, + -0.3670694495296094, + 0.8078888372951305 + ], + "closest_button": [ + 0.1233042627573013, + -0.368008255958557, + 0.7727829813957214 + ], + "closest_ee_minus_button": [ + 0.0021399684871769575, + 0.0009388064289476139, + 0.035105855899409066 + ], + "button_min_z_position": [ + 0.12329562008380889, + -0.36800697445869435, + 0.7698444724082947 + ], + "min_active_finger_to_button": 0.14391509103077713, + "closest_active_finger": [ + -0.0022986382246017456, + -0.4293050169944763, + 0.8107054233551025 + ], + "closest_active_finger_button": [ + 0.12331166863441466, + -0.36800736188888544, + 0.7764096260070801 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12561030685901642, + -0.061297655105590876, + 0.03429579734802246 + ], + "min_contact_pad_to_button": 0.021111591053186732, + "closest_contact_pad": [ + 0.12329562008380889, + -0.36830188948707715, + 0.790954003476583 + ], + "closest_contact_pad_button": [ + 0.12329562008380889, + -0.36800697445869435, + 0.7698444724082947 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002949150283828028, + 0.02110953106828828 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "396b3f1728e95b70cf31a6e724622d8d45cdc70067a7bfb3711114d49e0c7f78", + "visual_seed": 2116110978205163749, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ef04a4dfd952329b27d4cbf0891f0b1076a698d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "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": [ + 0.32252033537945357, + 0.21231374785835216, + 1.155526968152166 + ], + "current_z": 1.155526968152166, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.2989403415343109, + "gripper_z": 1.14881721099044, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.317481749803571, + 0.2073026937101486, + 1.14881721099044 + ], + "object_minus_gripper": [ + 0.005038585575882548, + 0.005011054148203575, + 0.00670975716172606 + ], + "object_to_gripper_xy": 0.007106195063585008, + "object_to_gripper_z": 0.00670975716172606, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32252033537945357, + 0.18815846558407712, + 1.155526968152166 + ], + "finger_b": [ + 0.3113839911428684, + 0.21231374785835216, + 1.155526968152166 + ], + "finger_midpoint": [ + 0.316952163261161, + 0.20023610672121464, + 1.155526968152166 + ], + "object_minus_finger_midpoint": [ + 0.00556817211829258, + 0.012077641137137524, + 0.0 + ], + "finger_gap": 0.026598793670120264, + "fingertip_max_gap": 0.0904219440028182, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013299396835060132, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.155526968152166, + "object_top_z": 1.2012953973237432, + "finger_top_clearance": 0.045768429171577196, + "fingertip_min_top_clearance": 0.013730528751473159, + "object_projection_between_fingers": 0.8247082758300034, + "object_to_finger_line_xy": 0.010113298440312096, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477109720014091, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8199304575849223, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2746472344351722, + -0.31162623138305146, + 0.8470200581112999 + ], + "target_position": [ + 0.2670028615312491, + -0.3119053092705986, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0076494654428627675, + "xy_threshold": 0.08, + "gripper_dist": 0.18855072021298228, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200581112999, + "min_z": 0.5730800627579278, + "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": 0.0754962475207564, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523455327695785, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15659037628767272, + "release_required_pad_clearance": 0.05261727663847893, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.29341320147166866, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006933093070983887, + "max_z_decrease": 0.006933093070983887, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511087030639702, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006933093070983887, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021116510013315604, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006933093070983887, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006933114053233074, + "max_button_displacement": 0.12, + "button_start": [ + 0.12270278483629225, + -0.3681667745113372, + 0.7768088579177856 + ], + "button_final": [ + 0.12270278483629225, + -0.3681667745113372, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12331710831795378, + -0.3669033879304169, + 0.8077039463055906 + ], + "closest_button": [ + 0.12269192188978194, + -0.3681670427322387, + 0.7726213932037354 + ], + "closest_ee_minus_button": [ + 0.000625186428171845, + 0.001263654801821834, + 0.03508255310185526 + ], + "button_min_z_position": [ + 0.1226857453584671, + -0.3681675493717193, + 0.7698757648468018 + ], + "min_active_finger_to_button": 0.14510262986733682, + "closest_active_finger": [ + -0.0029507428407669067, + -0.4320511817932129, + 0.8109082579612732 + ], + "closest_active_finger_button": [ + 0.12270335108041762, + -0.3681682646274566, + 0.776487410068512 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12565409392118454, + -0.06388291716575628, + 0.03442084789276123 + ], + "min_contact_pad_to_button": 0.021116510013315604, + "closest_contact_pad": [ + 0.1226857453584671, + -0.3681675493717193, + 0.7909922748601174 + ], + "closest_contact_pad_button": [ + 0.1226857453584671, + -0.3681675493717193, + 0.7698757648468018 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021116510013315604 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37334f56a846f8ef531e2b21a696f1b1b31bf9b0d09ac2f96ed6d3b5bf08cd24", + "visual_seed": 795880656649598927, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eaacd01efc15f8ca23dba911eae57df9cacf4806 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "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": [ + 0.31683815905093293, + 0.20325791787760716, + 1.1588891062452011 + ], + "current_z": 1.1588891062452011, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30230265844128035, + "gripper_z": 1.1521739941629394, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3118537408603146, + 0.19832485878137301, + 1.1521739941629394 + ], + "object_minus_gripper": [ + 0.004984418190618345, + 0.004933059096234149, + 0.0067151120822617205 + ], + "object_to_gripper_xy": 0.007012809475945111, + "object_to_gripper_z": 0.0067151120822617205, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31683815905093293, + 0.17909524856352574, + 1.1588891062452011 + ], + "finger_b": [ + 0.30587312096827307, + 0.20325791787760716, + 1.1588891062452011 + ], + "finger_midpoint": [ + 0.31135564000960303, + 0.19117658322056647, + 1.1588891062452011 + ], + "object_minus_finger_midpoint": [ + 0.005482519041329903, + 0.012081334657040699, + 0.0 + ], + "finger_gap": 0.02653425424872222, + "fingertip_max_gap": 0.09037551944272973, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013267127124361086, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1588891062452011, + "object_top_z": 1.2046264423932005, + "finger_top_clearance": 0.04573733614799935, + "fingertip_min_top_clearance": 0.01372120084439984, + "object_projection_between_fingers": 0.8292319904596902, + "object_to_finger_line_xy": 0.00998500228135784, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768775972136487, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.781346372081257, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26930772550149235, + -0.31431105770061696, + 0.8470195433609138 + ], + "target_position": [ + 0.26169998146663254, + -0.3145419122433459, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0076112458323091626, + "xy_threshold": 0.08, + "gripper_dist": 0.18555962785305907, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195433609138, + "min_z": 0.5730800627579278, + "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": 0.0756367072646991, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857478886496963, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15321233416337024, + "release_required_pad_clearance": 0.052873944324848154, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7893144807691438, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006920814514160156, + "max_z_decrease": 0.006920814514160156, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509185663063998, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006920814514160156, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021154467334369334, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006920814514160156, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006920838610601949, + "max_button_displacement": 0.12, + "button_start": [ + 0.11739990860223769, + -0.3708033561706543, + 0.7768088579177856 + ], + "button_final": [ + 0.11739990860223769, + -0.3708033561706543, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11841524099948636, + -0.37108450533146514, + 0.8077118351023326 + ], + "closest_button": [ + 0.11738934367895126, + -0.370801955461502, + 0.7726361155509949 + ], + "closest_ee_minus_button": [ + 0.0010258973205350963, + -0.00028254986996312237, + 0.0350757195513377 + ], + "button_min_z_position": [ + 0.11738164722919463, + -0.37080359458923334, + 0.7698880434036255 + ], + "min_active_finger_to_button": 0.1452126096191641, + "closest_active_finger": [ + -0.022961728274822235, + -0.3569049835205078, + 0.8110318779945374 + ], + "closest_active_finger_button": [ + 0.11740113794803618, + -0.37080430984497065, + 0.7765097618103027 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14036286622285843, + 0.013899326324462835, + 0.03452211618423462 + ], + "min_contact_pad_to_button": 0.021154467334369334, + "closest_contact_pad": [ + 0.11738164722919463, + -0.3720410329943504, + 0.7910062875161089 + ], + "closest_contact_pad_button": [ + 0.11738164722919463, + -0.37080359458923334, + 0.7698880434036255 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012374384051170306, + 0.02111824411248342 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ee116bf7ee78af1f48be6b9181130dccf94096c8e918ff54b60df0aa6e1b9082", + "visual_seed": 4971507119816687943, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e53a7191a46608de057dc05d24a636e6ea18bce0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_64_success.json @@ -0,0 +1,700 @@ +{ + "episode": 64, + "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": [ + 0.32535288782796756, + 0.21434680278669124, + 1.155966068769147 + ], + "current_z": 1.155966068769147, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.29937944215129186, + "gripper_z": 1.1492357440375205, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3203367631027555, + 0.20921076827688873, + 1.1492357440375205 + ], + "object_minus_gripper": [ + 0.005016124725212068, + 0.005136034509802517, + 0.006730324731626602 + ], + "object_to_gripper_xy": 0.007179161353860646, + "object_to_gripper_z": 0.006730324731626602, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32535288782796756, + 0.19021697441913726, + 1.155966068769147 + ], + "finger_b": [ + 0.31401394714150366, + 0.21434680278669124, + 1.155966068769147 + ], + "finger_midpoint": [ + 0.3196834174847356, + 0.20228188860291424, + 1.155966068769147 + ], + "object_minus_finger_midpoint": [ + 0.005669470343231953, + 0.012064914183777004, + 0.0 + ], + "finger_gap": 0.026661211392934855, + "fingertip_max_gap": 0.09044023843169194, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01333060569646744, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.155966068769147, + "object_top_z": 1.2017197397175683, + "finger_top_clearance": 0.0457536709484212, + "fingertip_min_top_clearance": 0.01372610128452636, + "object_projection_between_fingers": 0.8191222236391592, + "object_to_finger_line_xy": 0.010262350371174562, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772011921584597, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8124989511087046, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 386, + "max_stable_success_frames": 386, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27833436323402283, + -0.3145731154999356, + 0.8470194471498308 + ], + "target_position": [ + 0.2708299263237496, + -0.3150691980617243, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007520815863214731, + "xy_threshold": 0.08, + "gripper_dist": 0.18616412437975627, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194471498308, + "min_z": 0.5730800627579278, + "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": 0.07584557129122585, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08608402071470055, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15335149384467756, + "release_required_pad_clearance": 0.053042010357350275, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1148582241913185, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006998717784881592, + "max_z_decrease": 0.006998717784881592, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510635843189376, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006998717784881592, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02119399345941177, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006998717784881592, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006998738716451863, + "max_button_displacement": 0.12, + "button_start": [ + 0.12652985751628876, + -0.3713306486606597, + 0.7768088579177856 + ], + "button_final": [ + 0.12652985751628876, + -0.3713306486606597, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12711448004324485, + -0.3723371990005033, + 0.8078270621096962 + ], + "closest_button": [ + 0.12651892006397247, + -0.37133082747459406, + 0.7727401852607727 + ], + "closest_ee_minus_button": [ + 0.0005955599792723809, + -0.0010063715259092665, + 0.03508687684892353 + ], + "button_min_z_position": [ + 0.12651275098323822, + -0.3713300526142119, + 0.769810140132904 + ], + "min_active_finger_to_button": 0.14554576879726966, + "closest_active_finger": [ + -0.014326125383377075, + -0.3588320016860962, + 0.8110592365264893 + ], + "closest_active_finger_button": [ + 0.12653012573719025, + -0.3713312745094299, + 0.7766084671020508 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14085625112056732, + 0.012499272823333685, + 0.03445076942443848 + ], + "min_contact_pad_to_button": 0.02119399345941177, + "closest_contact_pad": [ + 0.12651275098323822, + -0.3732860449649696, + 0.7909136813684732 + ], + "closest_contact_pad_button": [ + 0.12651275098323822, + -0.3713300526142119, + 0.769810140132904 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019559923507576626, + 0.021103541235569123 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a7cfe40046bbc420707b7626906d4eb4634a5b2e4aae84feaf5852e30d0f045b", + "visual_seed": 622241984387674863, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7cd6234ad4b282387b522bc8b182a3aae95daf6f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_65_success.json @@ -0,0 +1,700 @@ +{ + "episode": 65, + "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": [ + 0.320967940511146, + 0.20337094496555835, + 1.1558523614777432 + ], + "current_z": 1.1558523614777432, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2992658540691776, + "gripper_z": 1.1491231719494188, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31586202099315336, + 0.1984697010734301, + 1.1491231719494188 + ], + "object_minus_gripper": [ + 0.005105919517992663, + 0.00490124389212826, + 0.006729189528324353 + ], + "object_to_gripper_xy": 0.00707761300258378, + "object_to_gripper_z": 0.006729189528324353, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.320967940511146, + 0.17903207239964855, + 1.1558523614777432 + ], + "finger_b": [ + 0.31017302024230625, + 0.20337094496555835, + 1.1558523614777432 + ], + "finger_midpoint": [ + 0.31557048037672614, + 0.19120150868260344, + 1.1558523614777432 + ], + "object_minus_finger_midpoint": [ + 0.005397460134419885, + 0.012169436282954915, + 0.0 + ], + "finger_gap": 0.026625383028046835, + "fingertip_max_gap": 0.09036200048390877, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01331269151402343, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1558523614777432, + "object_top_z": 1.2015545280339615, + "finger_top_clearance": 0.04570216655621828, + "fingertip_min_top_clearance": 0.013710649966865484, + "object_projection_between_fingers": 0.8356206913216178, + "object_to_finger_line_xy": 0.009867883910090065, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768100024195439, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8027464001551039, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27707405167715593, + -0.30719341064417316, + 0.8470196540215533 + ], + "target_position": [ + 0.26878539926952283, + -0.30784003708208885, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008313836929166554, + "xy_threshold": 0.08, + "gripper_dist": 0.18609169291134706, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196540215533, + "min_z": 0.5730800627579278, + "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": 0.07535427214426854, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550074742501788, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15462063048826602, + "release_required_pad_clearance": 0.052750373712508944, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.551072722853278, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006813645362854004, + "max_z_decrease": 0.006813645362854004, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510271089272801, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006813645362854004, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02119004733287923, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006813645362854004, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006813662566029734, + "max_button_displacement": 0.12, + "button_start": [ + 0.12448532879352568, + -0.3641014993190764, + 0.7768088579177856 + ], + "button_final": [ + 0.12448532879352568, + -0.3641014993190764, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12338072045791143, + -0.36523104734990536, + 0.8078076091534178 + ], + "closest_button": [ + 0.12447376549243926, + -0.3641027808189391, + 0.7727400660514832 + ], + "closest_ee_minus_button": [ + -0.0010930450345278259, + -0.0011282665309662598, + 0.035067543101934606 + ], + "button_min_z_position": [ + 0.124470017850399, + -0.36410140991210926, + 0.7699952125549316 + ], + "min_active_finger_to_button": 0.14715935599991872, + "closest_active_finger": [ + -0.017981745302677155, + -0.35097479820251465, + 0.8109981417655945 + ], + "closest_active_finger_button": [ + 0.12448489665985105, + -0.3641041219234466, + 0.7765488624572754 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1424666419625282, + 0.013129323720931951, + 0.03444927930831909 + ], + "min_contact_pad_to_button": 0.02119004733287923, + "closest_contact_pad": [ + 0.124470017850399, + -0.36625196914411356, + 0.7910758482417249 + ], + "closest_contact_pad_button": [ + 0.124470017850399, + -0.36410140991210926, + 0.7699952125549316 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002150559232004301, + 0.021080635686793303 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "efc520a94278e3500b066685fc714a1a2eb4e13351220c964df7cac69a6c7813", + "visual_seed": 7721720887368235362, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e7ba66c84a0f02edd2a4ddb7d8eb9a0130aebddc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_66_success.json @@ -0,0 +1,700 @@ +{ + "episode": 66, + "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": [ + 0.3250428871207814, + 0.213633300606736, + 1.1576589661265657 + ], + "current_z": 1.1576589661265657, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30107245871800015, + "gripper_z": 1.1509455187107538, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3199236580333446, + 0.2086116691306809, + 1.1509455187107538 + ], + "object_minus_gripper": [ + 0.005119229087436783, + 0.005021631476055083, + 0.006713447415811924 + ], + "object_to_gripper_xy": 0.00717100335594441, + "object_to_gripper_z": 0.006713447415811924, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3250428871207814, + 0.1894731169668062, + 1.1576589661265657 + ], + "finger_b": [ + 0.31383040099612647, + 0.213633300606736, + 1.1576589661265657 + ], + "finger_midpoint": [ + 0.31943664405845396, + 0.20155320878677108, + 1.1576589661265657 + ], + "object_minus_finger_midpoint": [ + 0.005606243062327432, + 0.012080091819964917, + 0.0 + ], + "finger_gap": 0.026635208251686544, + "fingertip_max_gap": 0.09051027940657028, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013317604125843274, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1576589661265657, + "object_top_z": 1.2034213086213086, + "finger_top_clearance": 0.04576234249474287, + "fingertip_min_top_clearance": 0.013728702748422894, + "object_projection_between_fingers": 0.8227886052344112, + "object_to_finger_line_xy": 0.010170587790117017, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775513970328514, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7905843384221115, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2776699696964119, + -0.30881096733029556, + 0.8470197161207034 + ], + "target_position": [ + 0.2701263053251427, + -0.30896854295625825, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007545309948852577, + "xy_threshold": 0.08, + "gripper_dist": 0.18593961213802532, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197161207034, + "min_z": 0.5730800627579278, + "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": 0.07526422895682672, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520539569358722, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15466885789631019, + "release_required_pad_clearance": 0.05260269784679361, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2683407754253498, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007032036781311035, + "max_z_decrease": 0.007032036781311035, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035107362888122357, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007032036781311035, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02111738196748165, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007032036781311035, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007032057144310439, + "max_button_displacement": 0.12, + "button_start": [ + 0.12582622468471527, + -0.3652299940586089, + 0.7768088579177856 + ], + "button_final": [ + 0.12582622468471527, + -0.3652299940586089, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12688185514200745, + -0.3648310149495484, + 0.807829624363307 + ], + "closest_button": [ + 0.12582086026668549, + -0.3652332127094268, + 0.7727406024932861 + ], + "closest_ee_minus_button": [ + 0.0010609948753219633, + 0.000402197759878431, + 0.03508902187002083 + ], + "button_min_z_position": [ + 0.12580934166908264, + -0.3652311563491821, + 0.7697768211364746 + ], + "min_active_finger_to_button": 0.14510692991152338, + "closest_active_finger": [ + 0.0003457590937614441, + -0.4294937252998352, + 0.8107269406318665 + ], + "closest_active_finger_button": [ + 0.1258264183998108, + -0.36523190140724177, + 0.7763606309890747 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12548065930604935, + -0.06426182389259344, + 0.03436630964279175 + ], + "min_contact_pad_to_button": 0.02111738196748165, + "closest_contact_pad": [ + 0.12580934166908264, + -0.36579654981766463, + 0.7908866328690864 + ], + "closest_contact_pad_button": [ + 0.12580934166908264, + -0.3652311563491821, + 0.7697768211364746 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005653934684825557, + 0.02110981173261184 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "877418abea20d6c1f84c9bb6f254f82a27b64014bb59741c5591f188ea87f94e", + "visual_seed": 4894017615145008356, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..814e83b7c3270426126edc7bcc3fac3b95ef1465 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_67_success.json @@ -0,0 +1,700 @@ +{ + "episode": 67, + "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": [ + 0.32352362621291286, + 0.20391686725655736, + 1.15553878618008 + ], + "current_z": 1.15553878618008, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.29895227877151453, + "gripper_z": 1.1488179847591007, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31861466577221464, + 0.19890825795742484, + 1.1488179847591007 + ], + "object_minus_gripper": [ + 0.004908960440698218, + 0.0050086092991325215, + 0.0067208014209794165 + ], + "object_to_gripper_xy": 0.0070131347997665645, + "object_to_gripper_z": 0.0067208014209794165, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32352362621291286, + 0.17987278825364644, + 1.15553878618008 + ], + "finger_b": [ + 0.3123660102007907, + 0.20391686725655736, + 1.15553878618008 + ], + "finger_midpoint": [ + 0.3179448182068518, + 0.19189482775510192, + 1.15553878618008 + ], + "object_minus_finger_midpoint": [ + 0.005578808006061087, + 0.012022039501455445, + 0.0 + ], + "finger_gap": 0.02650679403798556, + "fingertip_max_gap": 0.09063521444663689, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013253397018992768, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.15553878618008, + "object_top_z": 1.201315579030329, + "finger_top_clearance": 0.045776792850248826, + "fingertip_min_top_clearance": 0.013733037855074648, + "object_projection_between_fingers": 0.8228144034253305, + "object_to_finger_line_xy": 0.010120975041159561, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047817607223318445, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7952023036267186, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27582199907108756, + -0.31355154655442585, + 0.8470194313195856 + ], + "target_position": [ + 0.26852978878773215, + -0.31365261930924265, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007292910702760643, + "xy_threshold": 0.08, + "gripper_dist": 0.18525751146392416, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194313195856, + "min_z": 0.5730800627579278, + "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": 0.0757437627920809, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858655137852782, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15268444971369913, + "release_required_pad_clearance": 0.0529327568926391, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9013472378981804, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006793856620788574, + "max_z_decrease": 0.006793856620788574, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514611892978411, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006793856620788574, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02110971109895801, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006793856620788574, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0067938801479879825, + "max_button_displacement": 0.12, + "button_start": [ + 0.1242297142744064, + -0.36991408467292786, + 0.7768088579177856 + ], + "button_final": [ + 0.1242297142744064, + -0.36991408467292786, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12584383050351677, + -0.3693329701806274, + 0.8081670722303766 + ], + "closest_button": [ + 0.1242232248187065, + -0.36991629004478455, + 0.7730631828308105 + ], + "closest_ee_minus_button": [ + 0.0016206056848102751, + 0.0005833198641571613, + 0.0351038893995661 + ], + "button_min_z_position": [ + 0.124211847782135, + -0.3699147701263428, + 0.7700150012969971 + ], + "min_active_finger_to_button": 0.14452670335700574, + "closest_active_finger": [ + -0.0016263797879219055, + -0.4321300983428955, + 0.8110790848731995 + ], + "closest_active_finger_button": [ + 0.12423253059387204, + -0.36991363763809204, + 0.7767772674560547 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12585891038179395, + -0.06221646070480347, + 0.034301817417144775 + ], + "min_contact_pad_to_button": 0.02110971109895801, + "closest_contact_pad": [ + 0.124211847782135, + -0.3704956927839591, + 0.7911167176145704 + ], + "closest_contact_pad_button": [ + 0.124211847782135, + -0.3699147701263428, + 0.7700150012969971 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000580922657616334, + 0.021101716317573294 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e82d865de5ee98f115b48798b33d77078648651f997999fa7fac487f2ae08dff", + "visual_seed": 1668889966514078130, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4b461f53c8d39602566bbc08dacec6f5e76d5cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_68_success.json @@ -0,0 +1,700 @@ +{ + "episode": 68, + "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": [ + 0.32500398090107097, + 0.2112747444679009, + 1.1572523381247373 + ], + "current_z": 1.1572523381247373, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3006658307161717, + "gripper_z": 1.1505409178108035, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3199742128631681, + 0.2061776301969792, + 1.1505409178108035 + ], + "object_minus_gripper": [ + 0.005029768037902893, + 0.005097114270921688, + 0.006711420313933791 + ], + "object_to_gripper_xy": 0.007160945496646588, + "object_to_gripper_z": 0.006711420313933791, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32500398090107097, + 0.18706715873646632, + 1.1572523381247373 + ], + "finger_b": [ + 0.3138062613822305, + 0.2112747444679009, + 1.1572523381247373 + ], + "finger_midpoint": [ + 0.31940512114165076, + 0.19917095160218362, + 1.1572523381247373 + ], + "object_minus_finger_midpoint": [ + 0.005598859759420205, + 0.012103792865717278, + 0.0 + ], + "finger_gap": 0.02667201022359162, + "fingertip_max_gap": 0.09035657004349354, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013336005111795786, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1572523381247373, + "object_top_z": 1.20303484318788, + "finger_top_clearance": 0.04578250506314263, + "fingertip_min_top_clearance": 0.01373475151894279, + "object_projection_between_fingers": 0.8237424730801874, + "object_to_finger_line_xy": 0.01016307930960243, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767828502174677, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8471918309614873, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 388, + "max_stable_success_frames": 388, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27636344686240294, + -0.30928754855614593, + 0.8470195963661897 + ], + "target_position": [ + 0.2686727165455289, + -0.3097378538117449, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0077039021041356605, + "xy_threshold": 0.08, + "gripper_dist": 0.18600896744084375, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195963661897, + "min_z": 0.5730800627579278, + "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": 0.07549335655209126, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506784594637128, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15415287642032335, + "release_required_pad_clearance": 0.05253392297318564, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.13705605301790177, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0069495439529418945, + "max_z_decrease": 0.0069495439529418945, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351744252874763, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0069495439529418945, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021134445611110147, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0069495439529418945, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006949563368271428, + "max_button_displacement": 0.12, + "button_start": [ + 0.12437264621257783, + -0.365999311208725, + 0.7768088579177856 + ], + "button_final": [ + 0.12437264621257783, + -0.365999311208725, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12648366004906406, + -0.36582598378257347, + 0.8078922310511217 + ], + "closest_button": [ + 0.12436245381832123, + -0.36600217223167414, + 0.7727822661399841 + ], + "closest_ee_minus_button": [ + 0.002121206230742828, + 0.0001761884491006671, + 0.0351099649111376 + ], + "button_min_z_position": [ + 0.12435629218816759, + -0.3660008609294891, + 0.7698593139648438 + ], + "min_active_finger_to_button": 0.14416250230402328, + "closest_active_finger": [ + -0.014511168003082275, + -0.3482062816619873, + 0.8107171058654785 + ], + "closest_active_finger_button": [ + 0.12437231093645099, + -0.3660007417201996, + 0.7764014601707458 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13888347893953326, + 0.01779446005821228, + 0.034315645694732666 + ], + "min_contact_pad_to_button": 0.021134445611110147, + "closest_contact_pad": [ + 0.12435629218816759, + -0.36712818219829063, + 0.7909636722362028 + ], + "closest_contact_pad_button": [ + 0.12435629218816759, + -0.3660008609294891, + 0.7698593139648438 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001127321268801551, + 0.021104358271359036 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a8535d681018cce5afd115a258a69c6afdbce1d6f6026db7283468940fa60366", + "visual_seed": 54930166630674083, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8b54383be1f9093fed80b136ebbd7753c4a1c41c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_69_success.json @@ -0,0 +1,700 @@ +{ + "episode": 69, + "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": [ + 0.32421746542633395, + 0.20630313626964478, + 1.1583511480909319 + ], + "current_z": 1.1583511480909319, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3017645810777215, + "gripper_z": 1.1516306222746593, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31921723483956715, + 0.201186236264201, + 1.1516306222746593 + ], + "object_minus_gripper": [ + 0.005000230586766796, + 0.005116900005443764, + 0.006720525816272582 + ], + "object_to_gripper_xy": 0.007154367308612873, + "object_to_gripper_z": 0.006720525816272582, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32421746542633395, + 0.18215925954194678, + 1.1583511480909319 + ], + "finger_b": [ + 0.31293608315590027, + 0.20630313626964478, + 1.1583511480909319 + ], + "finger_midpoint": [ + 0.3185767742911171, + 0.1942311979057958, + 1.1583511480909319 + ], + "object_minus_finger_midpoint": [ + 0.005640691135216869, + 0.012071938363848983, + 0.0 + ], + "finger_gap": 0.026649509739841974, + "fingertip_max_gap": 0.09040666395471922, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013324754869920985, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1583511480909319, + "object_top_z": 1.2041218294688254, + "finger_top_clearance": 0.04577068137789353, + "fingertip_min_top_clearance": 0.013731204413368092, + "object_projection_between_fingers": 0.8207966255250658, + "object_to_finger_line_xy": 0.010220687191411124, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04770333197735961, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.829955225824344, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 389, + "max_stable_success_frames": 389, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2754837225961263, + -0.31071027227219483, + 0.8470196006793059 + ], + "target_position": [ + 0.26805147340383506, + -0.31117219820330083, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007446590066744774, + "xy_threshold": 0.08, + "gripper_dist": 0.18687401932885564, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196006793059, + "min_z": 0.5730800627579278, + "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": 0.07589395556907041, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08615460348483119, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15416493356420863, + "release_required_pad_clearance": 0.053077301742415595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.181658044449756, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006705224514007568, + "max_z_decrease": 0.006705224514007568, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511302333369712, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006705224514007568, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02109723074450717, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006705224514007568, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006705240558169102, + "max_button_displacement": 0.12, + "button_start": [ + 0.12375140190124509, + -0.3674336671829223, + 0.7768088579177856 + ], + "button_final": [ + 0.12375140190124509, + -0.3674336671829223, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12251222753844113, + -0.3674033990843925, + 0.8080573196384069 + ], + "closest_button": [ + 0.12374184280633924, + -0.3674366176128387, + 0.7729658484458923 + ], + "closest_ee_minus_button": [ + -0.0012296152678981098, + 3.321852844617723e-05, + 0.035091471192514545 + ], + "button_min_z_position": [ + 0.12373675405979154, + -0.3674344420433044, + 0.7701036334037781 + ], + "min_active_finger_to_button": 0.1472381104590461, + "closest_active_finger": [ + -0.0057474225759506226, + -0.4285483658313751, + 0.8108879923820496 + ], + "closest_active_finger_button": [ + 0.12375040352344509, + -0.3674356639385223, + 0.7766153812408447 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1294978260993957, + -0.06111270189285284, + 0.034272611141204834 + ], + "min_contact_pad_to_button": 0.02109723074450717, + "closest_contact_pad": [ + 0.12373675405979154, + -0.3687531492665439, + 0.7911596101407132 + ], + "closest_contact_pad_button": [ + 0.12373675405979154, + -0.3674344420433044, + 0.7701036334037781 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013187072232395125, + 0.021055976736935156 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eafb3765fb5a5654360eed7819377f34730892606dd15de46baaa43d72cc4174", + "visual_seed": 9033521440214544636, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e04cd2969c98ae14db755bd40dfd89f6c5a967e2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_6_success.json @@ -0,0 +1,700 @@ +{ + "episode": 6, + "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": [ + 0.32028130853279274, + 0.20767846322260658, + 1.15909513568895 + ], + "current_z": 1.15909513568895, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.30250850907109483, + "gripper_z": 1.1523636121874397, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3150919973398859, + 0.20261058545366167, + 1.1523636121874397 + ], + "object_minus_gripper": [ + 0.005189311192906831, + 0.005067877768944906, + 0.006731523501510406 + ], + "object_to_gripper_xy": 0.0072534361331574515, + "object_to_gripper_z": 0.006731523501510406, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32028130853279274, + 0.18344756166052245, + 1.15909513568895 + ], + "finger_b": [ + 0.30902949488569753, + 0.20767846322260658, + 1.15909513568895 + ], + "finger_midpoint": [ + 0.3146554017092451, + 0.19556301244156452, + 1.15909513568895 + ], + "object_minus_finger_midpoint": [ + 0.005625906823547633, + 0.012115450781042064, + 0.0 + ], + "finger_gap": 0.026715911005623018, + "fingertip_max_gap": 0.0903492363844037, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013357955502811521, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.15909513568895, + "object_top_z": 1.204808489869948, + "finger_top_clearance": 0.04571335418099798, + "fingertip_min_top_clearance": 0.013714006254299393, + "object_projection_between_fingers": 0.8226198224362327, + "object_to_finger_line_xy": 0.010205213994772413, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047674618192201854, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7370200334777167, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27150944112278264, + -0.3155789290737805, + 0.8470199409236927 + ], + "target_position": [ + 0.26365864885423584, + -0.3158448840470997, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007855295748201164, + "xy_threshold": 0.08, + "gripper_dist": 0.1868184115639007, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199409236927, + "min_z": 0.5730800627579278, + "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": 0.07517681086553317, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531776500549833, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.155611758654815, + "release_required_pad_clearance": 0.052658882502749166, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.37534347818426406, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007012307643890381, + "max_z_decrease": 0.007012307643890381, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510620303925118, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007012307643890381, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021115729451417597, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007012307643890381, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007012329324617658, + "max_button_displacement": 0.12, + "button_start": [ + 0.1193585768342018, + -0.3721063435077667, + 0.7768088579177856 + ], + "button_final": [ + 0.1193585768342018, + -0.3721063435077667, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11854034083782036, + -0.3706974771331952, + 0.807565012522205 + ], + "closest_button": [ + 0.1193469241261482, + -0.37210577726364136, + 0.7724963426589966 + ], + "closest_ee_minus_button": [ + -0.0008065832883278334, + 0.0014083001304461829, + 0.035068669863208446 + ], + "button_min_z_position": [ + 0.11934114247560498, + -0.37210601568222046, + 0.7697965502738953 + ], + "min_active_finger_to_button": 0.14629455916561165, + "closest_active_finger": [ + -0.007724039256572723, + -0.4358535408973694, + 0.810867965221405 + ], + "closest_active_finger_button": [ + 0.11935996264219283, + -0.37210777401924133, + 0.7763972282409668 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12708400189876556, + -0.06374576687812805, + 0.03447073698043823 + ], + "min_contact_pad_to_button": 0.021115729451417597, + "closest_contact_pad": [ + 0.11934114247560498, + -0.37210601568222046, + 0.7909122797253129 + ], + "closest_contact_pad_button": [ + 0.11934114247560498, + -0.37210601568222046, + 0.7697965502738953 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021115729451417597 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9f3754795af98800c6d16d1434af616a9e1d2d822f5ad45291905676c3137991", + "visual_seed": 3407480360066955150, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..61fdde31aa16d17d1a4846bea0409c9b2aaabeac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_70_success.json @@ -0,0 +1,700 @@ +{ + "episode": 70, + "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": [ + 0.3252259359358384, + 0.21258884857405758, + 1.158910907656079 + ], + "current_z": 1.158910907656079, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3023244598521583, + "gripper_z": 1.1522032592046958, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32016397149168596, + 0.20757502506049053, + 1.1522032592046958 + ], + "object_minus_gripper": [ + 0.005061964444152411, + 0.005013823513567051, + 0.006707648451383275 + ], + "object_to_gripper_xy": 0.007124739311656327, + "object_to_gripper_z": 0.006707648451383275, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3252259359358384, + 0.1884072906284498, + 1.158910907656079 + ], + "finger_b": [ + 0.3140991893002948, + 0.21258884857405758, + 1.158910907656079 + ], + "finger_midpoint": [ + 0.3196625626180666, + 0.2004980696012537, + 1.158910907656079 + ], + "object_minus_finger_midpoint": [ + 0.0055633733177717914, + 0.01209077897280389, + 0.0 + ], + "finger_gap": 0.026618644506592876, + "fingertip_max_gap": 0.09039674988680649, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013309322253296438, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158910907656079, + "object_top_z": 1.2046837849590561, + "finger_top_clearance": 0.04577287730297708, + "fingertip_min_top_clearance": 0.013731863190893156, + "object_projection_between_fingers": 0.8252711874838472, + "object_to_finger_line_xy": 0.010108030423820125, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047698374943403246, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8228304263667762, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27409198292899206, + -0.3094341961049735, + 0.8470194966904886 + ], + "target_position": [ + 0.2666635395359007, + -0.3097945319549922, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007437177769098377, + "xy_threshold": 0.08, + "gripper_dist": 0.18669841622592986, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194966904886, + "min_z": 0.5730800627579278, + "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": 0.07585247897374936, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861007357985306, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15403851444340286, + "release_required_pad_clearance": 0.0530503678992653, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.130890263998911, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0069893598556518555, + "max_z_decrease": 0.0069893598556518555, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035203320630257016, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0069893598556518555, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021318298234286708, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0069893598556518555, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00698938040074284, + "max_button_displacement": 0.12, + "button_start": [ + 0.12236346304416654, + -0.36605599522590626, + 0.7768088579177856 + ], + "button_final": [ + 0.12236346304416654, + -0.36605599522590626, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12439047715197285, + -0.3679174841477455, + 0.8078678049261061 + ], + "closest_button": [ + 0.12235773354768752, + -0.3660583198070525, + 0.7727724313735962 + ], + "closest_ee_minus_button": [ + 0.0020327436042853336, + -0.001859164340692998, + 0.03509537355250991 + ], + "button_min_z_position": [ + 0.12234655022621152, + -0.3660570681095122, + 0.7698194980621338 + ], + "min_active_finger_to_button": 0.1440551494702923, + "closest_active_finger": [ + -0.016792230308055878, + -0.35175302624702454, + 0.810791552066803 + ], + "closest_active_finger_button": [ + 0.1223635375499725, + -0.36605748534202565, + 0.7763976454734802 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13915576785802838, + 0.01430445909500111, + 0.034393906593322754 + ], + "min_contact_pad_to_button": 0.021318298234286708, + "closest_contact_pad": [ + 0.12234655022621152, + -0.36905496372690144, + 0.7909259535076422 + ], + "closest_contact_pad_button": [ + 0.12234655022621152, + -0.3660570681095122, + 0.7698194980621338 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029978956173892235, + 0.021106455445508376 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4eba3ba2015d7ad3e5d02a809e2061816f2fdbdb00fb15880ea408b1e32b14b8", + "visual_seed": 8278462922627350786, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..40acb4780160869e97c1f6967f258c969de69dba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "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": [ + 0.3190922552712656, + 0.20766064221815586, + 1.1553085636092824 + ], + "current_z": 1.1553085636092824, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.29872217541000634, + "gripper_z": 1.148587693404855, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.314004943090487, + 0.20261789383120152, + 1.148587693404855 + ], + "object_minus_gripper": [ + 0.005087312180778625, + 0.005042748386954343, + 0.006720870204427465 + ], + "object_to_gripper_xy": 0.007163103832754988, + "object_to_gripper_z": 0.006720870204427465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3190922552712656, + 0.18350222274592834, + 1.1553085636092824 + ], + "finger_b": [ + 0.3078731128963689, + 0.20766064221815586, + 1.1553085636092824 + ], + "finger_midpoint": [ + 0.31348268408381724, + 0.1955814324820421, + 1.1553085636092824 + ], + "object_minus_finger_midpoint": [ + 0.00560957118744837, + 0.01207920973611376, + 0.0 + ], + "finger_gap": 0.02663641092610462, + "fingertip_max_gap": 0.09034206426035166, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01331820546305231, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1553085636092824, + "object_top_z": 1.2010330113966439, + "finger_top_clearance": 0.04572444778736151, + "fingertip_min_top_clearance": 0.013717334336208486, + "object_projection_between_fingers": 0.8225941623967472, + "object_to_finger_line_xy": 0.010175422971334802, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767103213017583, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7579501507936772, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2759147636104714, + -0.30972506343184647, + 0.8470195270833161 + ], + "target_position": [ + 0.2681886338366613, + -0.3100562481865845, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007733224723459532, + "xy_threshold": 0.08, + "gripper_dist": 0.18792496909141865, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195270833161, + "min_z": 0.5730800627579278, + "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": 0.07538322114774529, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524254720059961, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15620253034621134, + "release_required_pad_clearance": 0.052621273600299806, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.303902172011899, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006712794303894043, + "max_z_decrease": 0.006712794303894043, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512968502681427, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006712794303894043, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021098590333141654, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006712794303894043, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006712820780999771, + "max_button_displacement": 0.12, + "button_start": [ + 0.12388855963945387, + -0.3663177192211151, + 0.7768088579177856 + ], + "button_final": [ + 0.12388855963945387, + -0.3663177192211151, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12305102173337351, + -0.3649367048467644, + 0.8080646881398454 + ], + "closest_button": [ + 0.12388260662555693, + -0.3663216829299926, + 0.7729721665382385 + ], + "closest_ee_minus_button": [ + -0.0008315848921834207, + 0.0013849780832282388, + 0.03509252160160692 + ], + "button_min_z_position": [ + 0.12386970967054366, + -0.3663181066513061, + 0.7700960636138916 + ], + "min_active_finger_to_button": 0.14633652349307316, + "closest_active_finger": [ + -0.004437752068042755, + -0.4276983141899109, + 0.8109657764434814 + ], + "closest_active_finger_button": [ + 0.12388940155506133, + -0.3663193881511688, + 0.7766270637512207 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1283271536231041, + -0.061378926038742065, + 0.03433871269226074 + ], + "min_contact_pad_to_button": 0.021098590333141654, + "closest_contact_pad": [ + 0.12386970967054366, + -0.3663181066513061, + 0.7911946539470333 + ], + "closest_contact_pad_button": [ + 0.12386970967054366, + -0.3663181066513061, + 0.7700960636138916 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021098590333141654 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "57d4f239c2013029ad8497d72698228ce3492be2e8f1159275775bcd74ef7938", + "visual_seed": 1251430035239154046, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..88289f01a0143469d8712fb09bb14330f9453e3f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "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": [ + 0.3251492153795802, + 0.21438118953788265, + 1.1562715583513021 + ], + "current_z": 1.1562715583513021, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2996849913380918, + "gripper_z": 1.1495661065723723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3200358488495302, + 0.20946686947344387, + 1.1495661065723723 + ], + "object_minus_gripper": [ + 0.005113366530050012, + 0.0049143200644387874, + 0.006705451778929783 + ], + "object_to_gripper_xy": 0.007092041946180335, + "object_to_gripper_z": 0.006705451778929783, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3251492153795802, + 0.19000577134363464, + 1.1562715583513021 + ], + "finger_b": [ + 0.31437911365800075, + 0.21438118953788265, + 1.1562715583513021 + ], + "finger_midpoint": [ + 0.3197641645187905, + 0.20219348044075863, + 1.1562715583513021 + ], + "object_minus_finger_midpoint": [ + 0.00538505086078972, + 0.012187709097124022, + 0.0 + ], + "finger_gap": 0.026648754253016136, + "fingertip_max_gap": 0.09045472215316766, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01332437712650808, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1562715583513021, + "object_top_z": 1.2020410225394764, + "finger_top_clearance": 0.04576946418817429, + "fingertip_min_top_clearance": 0.013730839256452321, + "object_projection_between_fingers": 0.8366625442429635, + "object_to_finger_line_xy": 0.009851332297395354, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772736107658383, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7800807080381141, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2753510781675853, + -0.31564101309348663, + 0.8470195813385979 + ], + "target_position": [ + 0.26767979595347174, + -0.31581074957414046, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007673159797726085, + "xy_threshold": 0.08, + "gripper_dist": 0.18678206678468467, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195813385979, + "min_z": 0.5730800627579278, + "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": 0.07528307996944517, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551804014723478, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1553540167811239, + "release_required_pad_clearance": 0.052759020073617394, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5678605767452618, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0067948102951049805, + "max_z_decrease": 0.0067948102951049805, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513173761998475, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0067948102951049805, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021205072029868884, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0067948102951049805, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006794829477363081, + "max_button_displacement": 0.12, + "button_start": [ + 0.12337972223758695, + -0.3720722198486328, + 0.7768088579177856 + ], + "button_final": [ + 0.12337972223758695, + -0.3720722198486328, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12435329936333789, + -0.3728904091191358, + 0.8081845400844161 + ], + "closest_button": [ + 0.12337104231119154, + -0.3720752894878387, + 0.7730759978294373 + ], + "closest_ee_minus_button": [ + 0.000982257052146343, + -0.000815119631297101, + 0.035108542254978836 + ], + "button_min_z_position": [ + 0.1233636066317558, + -0.3720732033252716, + 0.7700140476226807 + ], + "min_active_finger_to_button": 0.14514056226674946, + "closest_active_finger": [ + -0.01654999703168869, + -0.3545319736003876, + 0.8111016154289246 + ], + "closest_active_finger_button": [ + 0.1233815476298332, + -0.3720722198486328, + 0.7767900228500366 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13993154466152188, + 0.01754024624824524, + 0.03431159257888794 + ], + "min_contact_pad_to_button": 0.021205072029868884, + "closest_contact_pad": [ + 0.1233636066317558, + -0.3742392265232465, + 0.7911082037636066 + ], + "closest_contact_pad_button": [ + 0.1233636066317558, + -0.3720732033252716, + 0.7700140476226807 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021660231979748756, + 0.021094156140925913 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "295d6dacd0f0b65e1a0735c538083c7c2430ba5085ac0d2784e0b4b775b7b2da", + "visual_seed": 2663458369537084237, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aa9ba4a26ec3703985dd313e4447ceec83a64549 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "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": [ + 0.31667719270111633, + 0.20519893942808767, + 1.1583564986699881 + ], + "current_z": 1.1583564986699881, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30176999126142257, + "gripper_z": 1.1516186421939183, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31174180637997945, + 0.2001346049397849, + 1.1516186421939183 + ], + "object_minus_gripper": [ + 0.004935386321136881, + 0.005064334488302763, + 0.006737856476069837 + ], + "object_to_gripper_xy": 0.007071458261792814, + "object_to_gripper_z": 0.006737856476069837, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31667719270111633, + 0.18123162164156587, + 1.1583564986699881 + ], + "finger_b": [ + 0.30532295290921074, + 0.20519893942808767, + 1.1583564986699881 + ], + "finger_midpoint": [ + 0.3110000728051635, + 0.19321528053482678, + 1.1583564986699881 + ], + "object_minus_finger_midpoint": [ + 0.00567711989595282, + 0.01198365889326089, + 0.0 + ], + "finger_gap": 0.02652076701628776, + "fingertip_max_gap": 0.09043539206127335, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013260383508143878, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1583564986699881, + "object_top_z": 1.2040846847256872, + "finger_top_clearance": 0.04572818605569906, + "fingertip_min_top_clearance": 0.013718455816709751, + "object_projection_between_fingers": 0.8167078087404355, + "object_to_finger_line_xy": 0.010261040834521977, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04771769603063668, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.701449582139758, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27528440908607094, + -0.3155046082623467, + 0.8470196230527105 + ], + "target_position": [ + 0.2675499410428277, + -0.3157700351397499, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007739021084038914, + "xy_threshold": 0.08, + "gripper_dist": 0.18585837990867435, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196230527105, + "min_z": 0.5730800627579278, + "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": 0.07540605519664682, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499685954354642, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15422657697888145, + "release_required_pad_clearance": 0.052498429771773214, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06852443140935079, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006862819194793701, + "max_z_decrease": 0.006862819194793701, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511046274122313, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006862819194793701, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021172563134228137, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006862819194793701, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006862840035408927, + "max_button_displacement": 0.12, + "button_start": [ + 0.12324986606836319, + -0.37203148007392883, + 0.7768088579177856 + ], + "button_final": [ + 0.12324986606836319, + -0.37203148007392883, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12415221995134049, + -0.3727052286616785, + 0.808135974714185 + ], + "closest_button": [ + 0.12324403226375578, + -0.3720332980155945, + 0.773043692111969 + ], + "closest_ee_minus_button": [ + 0.0009081876875847023, + -0.0006719306460840069, + 0.035092282602215974 + ], + "button_min_z_position": [ + 0.12323296815156934, + -0.37203219532966614, + 0.7699460387229919 + ], + "min_active_finger_to_button": 0.14527133882885354, + "closest_active_finger": [ + -0.01708310842514038, + -0.3570139706134796, + 0.8111667037010193 + ], + "closest_active_finger_button": [ + 0.12325405329465863, + -0.37203043699264526, + 0.7767610549926758 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14033716171979901, + 0.01501646637916565, + 0.034405648708343506 + ], + "min_contact_pad_to_button": 0.021172563134228137, + "closest_contact_pad": [ + 0.12323296815156934, + -0.3737791120812336, + 0.7910464110309862 + ], + "closest_contact_pad_button": [ + 0.12323296815156934, + -0.37203219532966614, + 0.7699460387229919 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017469167515674622, + 0.02110037230799422 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9695ebc7fbc643ad726aa7f6e1dd02b3b895883dd5568e3f089da1fdb0cdab3b", + "visual_seed": 2056900373028197636, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8846bcd35ebedffd873bfa81d25f5ae26274ddc5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "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": [ + 0.318596087843929, + 0.21105441341132325, + 1.1565840712665758 + ], + "current_z": 1.1565840712665758, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.2999976830672997, + "gripper_z": 1.149851821372455, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31343669332178603, + 0.2060982763140144, + 1.149851821372455 + ], + "object_minus_gripper": [ + 0.005159394522142979, + 0.004956137097308855, + 0.006732249894120912 + ], + "object_to_gripper_xy": 0.007154204830897702, + "object_to_gripper_z": 0.006732249894120912, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.318596087843929, + 0.18681062092846024, + 1.1565840712665758 + ], + "finger_b": [ + 0.3075568177538315, + 0.21105441341132325, + 1.1565840712665758 + ], + "finger_midpoint": [ + 0.31307645279888024, + 0.19893251716989174, + 1.1565840712665758 + ], + "object_minus_finger_midpoint": [ + 0.005519635045048765, + 0.012121896241431507, + 0.0 + ], + "finger_gap": 0.02663882426223513, + "fingertip_max_gap": 0.09037576027375913, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013319412131117566, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1565840712665758, + "object_top_z": 1.2022575027904958, + "finger_top_clearance": 0.045673431523920005, + "fingertip_min_top_clearance": 0.013702029457176001, + "object_projection_between_fingers": 0.8282682432854089, + "object_to_finger_line_xy": 0.010046756215364043, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047687880136879565, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.663137998706971, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27554143941379383, + -0.30774051565930166, + 0.8470195793367947 + ], + "target_position": [ + 0.2673034293340848, + -0.3081710054074195, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00824925035967646, + "xy_threshold": 0.08, + "gripper_dist": 0.18685105927982068, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195793367947, + "min_z": 0.5730800627579278, + "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": 0.07518189600260508, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548237660714912, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1556877645919806, + "release_required_pad_clearance": 0.05274118830357456, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5337572212191241, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006631791591644287, + "max_z_decrease": 0.006631791591644287, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035124067804793324, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006631791591644287, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02109554416047189, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006631791591644287, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006631817083398249, + "max_button_displacement": 0.12, + "button_start": [ + 0.12300335615873335, + -0.36443245410919184, + 0.7768088579177856 + ], + "button_final": [ + 0.12300335615873335, + -0.36443245410919184, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12187541016866701, + -0.36362179869210653, + 0.8081381291317511 + ], + "closest_button": [ + 0.12299471348524092, + -0.36443704366683954, + 0.7730413675308228 + ], + "closest_ee_minus_button": [ + -0.001119303316573908, + 0.0008152449747330093, + 0.03509676160092834 + ], + "button_min_z_position": [ + 0.12298499792814255, + -0.3644334971904754, + 0.7701770663261414 + ], + "min_active_finger_to_button": 0.14682660055890565, + "closest_active_finger": [ + -0.006405889987945557, + -0.42472508549690247, + 0.8109826445579529 + ], + "closest_active_finger_button": [ + 0.12300591915845871, + -0.36443391442298884, + 0.7766954898834229 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12941180914640427, + -0.06029117107391363, + 0.03428715467453003 + ], + "min_contact_pad_to_button": 0.02109554416047189, + "closest_contact_pad": [ + 0.12298499792814255, + -0.36501375277765025, + 0.7912646287002038 + ], + "closest_contact_pad_button": [ + 0.12298499792814255, + -0.3644334971904754, + 0.7701770663261414 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005802555871748383, + 0.021087562374062396 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6f59204f85291683ee0fe33d0789970b4a0723bf6c8b6ec67d77f2683cc032c8", + "visual_seed": 2960077931628129044, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d28799d491c9aaa221cc232738e8972c11bb3ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "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": [ + 0.32389866949897617, + 0.21159873268823476, + 1.1564204876096749 + ], + "current_z": 1.1564204876096749, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2998339802011093, + "gripper_z": 1.1497154909327583, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31867269217427463, + 0.20668441406897178, + 1.1497154909327583 + ], + "object_minus_gripper": [ + 0.005225977324701536, + 0.004914318619262975, + 0.006704996676916597 + ], + "object_to_gripper_xy": 0.007173657818012326, + "object_to_gripper_z": 0.006704996676916597, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32389866949897617, + 0.18714865181283852, + 1.1564204876096749 + ], + "finger_b": [ + 0.31312585310060026, + 0.21159873268823476, + 1.1564204876096749 + ], + "finger_midpoint": [ + 0.3185122612997882, + 0.19937369225053664, + 1.1564204876096749 + ], + "object_minus_finger_midpoint": [ + 0.005386408199187953, + 0.01222504043769812, + 0.0 + ], + "finger_gap": 0.026718159142548235, + "fingertip_max_gap": 0.09030454553038411, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013359079571274118, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1564204876096749, + "object_top_z": 1.2021515255500836, + "finger_top_clearance": 0.04573103794040878, + "fingertip_min_top_clearance": 0.013719311382122667, + "object_projection_between_fingers": 0.8374281111050561, + "object_to_finger_line_xy": 0.00985832260339494, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04765227276519206, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7786140220759835, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2787074282288507, + -0.30597557584734725, + 0.8470187119962123 + ], + "target_position": [ + 0.27004821219646585, + -0.3068047185897278, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00869882175830457, + "xy_threshold": 0.08, + "gripper_dist": 0.18673361023329943, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470187119962123, + "min_z": 0.5730800627579278, + "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": 0.07521765407209949, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531211046940428, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15554825743016562, + "release_required_pad_clearance": 0.05265605523470214, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3647483079610119, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006776154041290283, + "max_z_decrease": 0.006776154041290283, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510736235215157, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006776154041290283, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021164764496980855, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006776154041290283, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006776172378747684, + "max_button_displacement": 0.12, + "button_start": [ + 0.1257481426000595, + -0.363066166639328, + 0.7768088579177856 + ], + "button_final": [ + 0.1257481426000595, + -0.363066166639328, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12523973601403426, + -0.36369094368343713, + 0.8079895546604832 + ], + "closest_button": [ + 0.12573862075805664, + -0.3630703389644623, + 0.7728912234306335 + ], + "closest_ee_minus_button": [ + -0.0004988847440223765, + -0.0006206047189748487, + 0.03509833122984962 + ], + "button_min_z_position": [ + 0.1257324516773224, + -0.3630676865577697, + 0.7700327038764954 + ], + "min_active_finger_to_button": 0.14659904437229143, + "closest_active_finger": [ + -0.015781402587890625, + -0.34627991914749146, + 0.8108522891998291 + ], + "closest_active_finger_button": [ + 0.12574820220470428, + -0.3630678653717041, + 0.7765184044837952 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1415296047925949, + 0.016787946224212646, + 0.034333884716033936 + ], + "min_contact_pad_to_button": 0.021164764496980855, + "closest_contact_pad": [ + 0.1257324516773224, + -0.3649713072874114, + 0.7911116859280637 + ], + "closest_contact_pad_button": [ + 0.1257324516773224, + -0.3630676865577697, + 0.7700327038764954 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019036207296416752, + 0.02107898205156833 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "423ef98f839792cdfd2c4f7ccf9979add0f325e0dbd99d6c0eab1e5f4096ede7", + "visual_seed": 902469915011933393, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..21a316acb92fd5dc2efc28147bfa68997a8799cb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "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": [ + 0.3261139618965549, + 0.2043235393744378, + 1.1565994465887557 + ], + "current_z": 1.1565994465887557, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.30001287957554523, + "gripper_z": 1.1498600746257586, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3210062892965539, + 0.19937585111325135, + 1.1498600746257586 + ], + "object_minus_gripper": [ + 0.005107672600001001, + 0.004947688261186467, + 0.0067393719629971205 + ], + "object_to_gripper_xy": 0.007111113732649995, + "object_to_gripper_z": 0.0067393719629971205, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3261139618965549, + 0.18009797304084868, + 1.1565994465887557 + ], + "finger_b": [ + 0.3151040851540142, + 0.2043235393744378, + 1.1565994465887557 + ], + "finger_midpoint": [ + 0.32060902352528453, + 0.19221075620764325, + 1.1565994465887557 + ], + "object_minus_finger_midpoint": [ + 0.0055049383712703626, + 0.012112783166794566, + 0.0 + ], + "finger_gap": 0.02661006294748408, + "fingertip_max_gap": 0.09034664980019844, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013305031473742053, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1565994465887557, + "object_top_z": 1.2023152316039576, + "finger_top_clearance": 0.045715785015201904, + "fingertip_min_top_clearance": 0.013714735504560571, + "object_projection_between_fingers": 0.8288120819387911, + "object_to_finger_line_xy": 0.010023294566324089, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767332490009922, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7760879109104244, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2733205099726697, + -0.3154612969770722, + 0.84701978185969 + ], + "target_position": [ + 0.2658515463045376, + -0.3156968965520255, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007472678598440822, + "xy_threshold": 0.08, + "gripper_dist": 0.18683762883983976, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701978185969, + "min_z": 0.5730800627579278, + "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": 0.07561794760484061, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08591194002987639, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15466055383843463, + "release_required_pad_clearance": 0.052955970014938195, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9462515510018287, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006720542907714844, + "max_z_decrease": 0.006720542907714844, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508651985711742, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006720542907714844, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02113880816053081, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006720542907714844, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006720560395534169, + "max_button_displacement": 0.12, + "button_start": [ + 0.12155146896839138, + -0.37195834517478943, + 0.7768088579177856 + ], + "button_final": [ + 0.12155146896839138, + -0.37195834517478943, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12069607754398326, + -0.3724254041505735, + 0.8080567832931748 + ], + "closest_button": [ + 0.12154144048690793, + -0.3719589114189148, + 0.7729835510253906 + ], + "closest_ee_minus_button": [ + -0.0008453629429246712, + -0.00046649273165871863, + 0.03507323226778414 + ], + "button_min_z_position": [ + 0.1215361431241035, + -0.37195876240730286, + 0.7700883150100708 + ], + "min_active_finger_to_button": 0.14699691698659711, + "closest_active_finger": [ + -0.02066006511449814, + -0.35802310705184937, + 0.8107852339744568 + ], + "closest_active_finger_button": [ + 0.12155244499444959, + -0.37195992469787603, + 0.7762966752052307 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14221251010894773, + 0.013936817646026667, + 0.034488558769226074 + ], + "min_contact_pad_to_button": 0.02113880816053081, + "closest_contact_pad": [ + 0.1215361431241035, + -0.3733854305499052, + 0.7911789249694486 + ], + "closest_contact_pad_button": [ + 0.1215361431241035, + -0.37195876240730286, + 0.7700883150100708 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014266681426023387, + 0.021090609959377837 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37e6c3d1a7ec2cbfba7a2bba367768be8e7975a2f3b8a3ff3fb4ad9e38fc227c", + "visual_seed": 7797190172089594667, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7d9482328e0a08d9f9e69c52363871646789717c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "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": [ + 0.3200309792541007, + 0.2050105493641648, + 1.1559522934256403 + ], + "current_z": 1.1559522934256403, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.2993658456217194, + "gripper_z": 1.149212810511594, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3149263034318799, + 0.19988878023607004, + 1.149212810511594 + ], + "object_minus_gripper": [ + 0.005104675822220794, + 0.005121769128094755, + 0.0067394829140463575 + ], + "object_to_gripper_xy": 0.007231198673212489, + "object_to_gripper_z": 0.0067394829140463575, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3200309792541007, + 0.18095053624139554, + 1.1559522934256403 + ], + "finger_b": [ + 0.30855636627116045, + 0.2050105493641648, + 1.1559522934256403 + ], + "finger_midpoint": [ + 0.31429367276263054, + 0.19298054280278015, + 1.1559522934256403 + ], + "object_minus_finger_midpoint": [ + 0.00573730649147014, + 0.012030006561384643, + 0.0 + ], + "finger_gap": 0.026656162037624418, + "fingertip_max_gap": 0.09054126253217662, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013328081018812233, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1559522934256403, + "object_top_z": 1.2016667160173553, + "finger_top_clearance": 0.04571442259171499, + "fingertip_min_top_clearance": 0.013714326777514496, + "object_projection_between_fingers": 0.8146976813495866, + "object_to_finger_line_xy": 0.010357055098875934, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777063126608831, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.774967525852752, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26868471204440936, + -0.315192091009871, + 0.8470195474044767 + ], + "target_position": [ + 0.26109235415289295, + -0.315120524524717, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007592695181203366, + "xy_threshold": 0.08, + "gripper_dist": 0.18804229542099152, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195474044767, + "min_z": 0.5730800627579278, + "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": 0.07513415161780648, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08536452651551803, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15684436935251275, + "release_required_pad_clearance": 0.052682263257759016, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4205785576318528, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006793618202209473, + "max_z_decrease": 0.006793618202209473, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350980691635233, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006793618202209473, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021209246922608234, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006793618202209473, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006793635349217507, + "max_button_displacement": 0.12, + "button_start": [ + 0.11679227650165558, + -0.3713819682598114, + 0.7768088579177856 + ], + "button_final": [ + 0.11679227650165558, + -0.3713819682598114, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11580620421528415, + -0.3724508676758547, + 0.8078241556494705 + ], + "closest_button": [ + 0.11678228527307509, + -0.37138286232948303, + 0.7727559208869934 + ], + "closest_ee_minus_button": [ + -0.0009760810577909423, + -0.001068005346371692, + 0.03506823476247711 + ], + "button_min_z_position": [ + 0.11677701771259308, + -0.3713815808296203, + 0.7700152397155762 + ], + "min_active_finger_to_button": 0.14704665726950036, + "closest_active_finger": [ + -0.02531014382839203, + -0.3558444678783417, + 0.8110392689704895 + ], + "closest_active_finger_button": [ + 0.11679237335920332, + -0.3713850677013397, + 0.7765706777572632 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14210251718759537, + 0.015540599822998047, + 0.03446859121322632 + ], + "min_contact_pad_to_button": 0.021209246922608234, + "closest_contact_pad": [ + 0.11677701771259308, + -0.3736686074653613, + 0.7911008192473694 + ], + "closest_contact_pad_button": [ + 0.11677701771259308, + -0.3713815808296203, + 0.7700152397155762 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002287026635740985, + 0.02108557953179324 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "289e4c0c3005e2a3222cd0656dabf1b93eebbb2f4ad41922ad2058357efe4a38", + "visual_seed": 2981895380477837416, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1147935057a50cbde65b2c3017fb67a3e3bc1918 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "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": [ + 0.3167134693508143, + 0.2033743417168345, + 1.158187589028899 + ], + "current_z": 1.158187589028899, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3016010816203335, + "gripper_z": 1.151446202899613, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31177520034244177, + 0.19834436805701755, + 1.151446202899613 + ], + "object_minus_gripper": [ + 0.00493826900837252, + 0.005029973659816944, + 0.006741386129285987 + ], + "object_to_gripper_xy": 0.007048910257444393, + "object_to_gripper_z": 0.006741386129285987, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3167134693508143, + 0.17939370373497143, + 1.158187589028899 + ], + "finger_b": [ + 0.30541821949144765, + 0.2033743417168345, + 1.158187589028899 + ], + "finger_midpoint": [ + 0.31106584442113094, + 0.19138402272590296, + 1.158187589028899 + ], + "object_minus_finger_midpoint": [ + 0.005647624929683348, + 0.011990318990931531, + 0.0 + ], + "finger_gap": 0.026507615271893006, + "fingertip_max_gap": 0.09034229080222081, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013253807635946515, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158187589028899, + "object_top_z": 1.2038970962629438, + "finger_top_clearance": 0.045709507234044766, + "fingertip_min_top_clearance": 0.013712852170213462, + "object_projection_between_fingers": 0.8184273770930116, + "object_to_finger_line_xy": 0.010218470994611543, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767114540111041, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7282391235708032, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26960315222509607, + -0.30718882950411025, + 0.8470197176648371 + ], + "target_position": [ + 0.26224763668173406, + -0.3071458704965501, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007355640990761482, + "xy_threshold": 0.08, + "gripper_dist": 0.18693917850672645, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197176648371, + "min_z": 0.5730800627579278, + "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": 0.07550838636905174, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08575867381788187, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15475133174232866, + "release_required_pad_clearance": 0.052879336908940935, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7991688947210168, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00685882568359375, + "max_z_decrease": 0.00685882568359375, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035078339050908514, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00685882568359375, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02112630512014141, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.00685882568359375, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006858845795804339, + "max_button_displacement": 0.12, + "button_start": [ + 0.11794756352901457, + -0.3634073436260223, + 0.7768088579177856 + ], + "button_final": [ + 0.11794756352901457, + -0.3634073436260223, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11749418777427795, + -0.3630582748743809, + 0.8076160365389348 + ], + "closest_button": [ + 0.11793681979179381, + -0.36340844631195063, + 0.7725422382354736 + ], + "closest_ee_minus_button": [ + -0.0004426320175158621, + 0.0003501714375697129, + 0.035073798303461134 + ], + "button_min_z_position": [ + 0.11793095618486403, + -0.36340764164924616, + 0.7699500322341919 + ], + "min_active_finger_to_button": 0.1464420166479558, + "closest_active_finger": [ + -0.00946720689535141, + -0.42684704065322876, + 0.8107718825340271 + ], + "closest_active_finger_button": [ + 0.11794938147068024, + -0.36340931057929987, + 0.7763345241546631 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12741658836603165, + -0.06343773007392889, + 0.034437358379364014 + ], + "min_contact_pad_to_button": 0.02112630512014141, + "closest_contact_pad": [ + 0.11793095618486403, + -0.36418415539846494, + 0.7910620618482908 + ], + "closest_contact_pad_button": [ + 0.11793095618486403, + -0.36340764164924616, + 0.7699500322341919 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007765137492187768, + 0.02111202961409886 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "061eb7d4d75d61a688cb9b6aff87441b360aca4319d6f1df3ababcb0d6e6de02", + "visual_seed": 3388779742233740028, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..35f82c125f3952b45872bea39dcb7c92c6d18c70 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "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": [ + 0.32424824154358134, + 0.21424338419538355, + 1.1575124386961138 + ], + "current_z": 1.1575124386961138, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.3009259312875481, + "gripper_z": 1.1508113252691743, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3192758305090838, + 0.20910753187884074, + 1.1508113252691743 + ], + "object_minus_gripper": [ + 0.004972411034497526, + 0.005135852316542816, + 0.0067011134269394645 + ], + "object_to_gripper_xy": 0.007148555834106002, + "object_to_gripper_z": 0.0067011134269394645, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32424824154358134, + 0.1901341145421187, + 1.1575124386961138 + ], + "finger_b": [ + 0.3129188380915025, + 0.21424338419538355, + 1.1575124386961138 + ], + "finger_midpoint": [ + 0.31858353981754195, + 0.20218874936875114, + 1.1575124386961138 + ], + "object_minus_finger_midpoint": [ + 0.0056647017260393895, + 0.01205463482663241, + 0.0 + ], + "finger_gap": 0.02663854849262274, + "fingertip_max_gap": 0.09041960489262688, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013319274246311345, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1575124386961138, + "object_top_z": 1.2033204701586326, + "finger_top_clearance": 0.04580803146251888, + "fingertip_min_top_clearance": 0.013742409438755664, + "object_projection_between_fingers": 0.8191189910783319, + "object_to_finger_line_xy": 0.0102536984292685, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04770980244631344, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8691406224966501, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 390, + "max_stable_success_frames": 390, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2712169679318067, + -0.3124868647088586, + 0.8470196181579711 + ], + "target_position": [ + 0.2632591432647957, + -0.31297233520415996, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007972619082377945, + "xy_threshold": 0.08, + "gripper_dist": 0.1878472455513161, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196181579711, + "min_z": 0.5730800627579278, + "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": 0.07526548546968395, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08518305351213427, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15636549701389954, + "release_required_pad_clearance": 0.05259152675606714, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.247081405027845, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00680619478225708, + "max_z_decrease": 0.00680619478225708, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514630405857714, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00680619478225708, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021278087290748048, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00680619478225708, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006806213411982167, + "max_button_displacement": 0.12, + "button_start": [ + 0.11895906925201415, + -0.369233787059784, + 0.7768088579177856 + ], + "button_final": [ + 0.11895906925201415, + -0.369233787059784, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1171288697199315, + -0.3711345629626162, + 0.8078025302677524 + ], + "closest_button": [ + 0.11894930899143216, + -0.3692338168621063, + 0.7727549076080322 + ], + "closest_ee_minus_button": [ + -0.0018204392715006623, + -0.001900746100509887, + 0.03504762265972017 + ], + "button_min_z_position": [ + 0.11894314736127852, + -0.36923348903656006, + 0.7700026631355286 + ], + "min_active_finger_to_button": 0.14779891454271185, + "closest_active_finger": [ + -0.024135924875736237, + -0.3558330535888672, + 0.8110464811325073 + ], + "closest_active_finger_button": [ + 0.11895958334207532, + -0.3692365884780884, + 0.7765712738037109 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14309550821781156, + 0.013403534889221191, + 0.03447520732879639 + ], + "min_contact_pad_to_button": 0.021278087290748048, + "closest_contact_pad": [ + 0.11894314736127852, + -0.37222103568890375, + 0.7910699734468323 + ], + "closest_contact_pad_button": [ + 0.11894314736127852, + -0.36923348903656006, + 0.7700026631355286 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029875466523436867, + 0.02106731031130371 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8903796a7082da31f53dae82f4c7829a3c0f1924060886197e1fc44d35a444f7", + "visual_seed": 2884596696347007107, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0a9ff73307415977d7705a454234bb5051424b9c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "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": [ + 0.3184645705941025, + 0.20474664486833102, + 1.1556981630459975 + ], + "current_z": 1.1556981630459975, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.2991117152420767, + "gripper_z": 1.1489656559802992, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3134109855316298, + 0.19961617385998176, + 1.1489656559802992 + ], + "object_minus_gripper": [ + 0.005053585062472665, + 0.005130471008349263, + 0.006732507065698279 + ], + "object_to_gripper_xy": 0.007201420328737877, + "object_to_gripper_z": 0.006732507065698279, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3184645705941025, + 0.18074357231639074, + 1.1556981630459975 + ], + "finger_b": [ + 0.30695138485508694, + 0.20474664486833102, + 1.1556981630459975 + ], + "finger_midpoint": [ + 0.3127079777245947, + 0.19274510859236088, + 1.1556981630459975 + ], + "object_minus_finger_midpoint": [ + 0.005756592869507804, + 0.012001536275970143, + 0.0 + ], + "finger_gap": 0.026621437560634856, + "fingertip_max_gap": 0.0903435580416633, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01331071878031744, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1556981630459975, + "object_top_z": 1.2014303648635543, + "finger_top_clearance": 0.04573220181755677, + "fingertip_min_top_clearance": 0.013719660545266998, + "object_projection_between_fingers": 0.8129627903787889, + "object_to_finger_line_xy": 0.010380800509668813, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767177902083165, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7506564046966405, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2777028541810176, + -0.30885440283523946, + 0.847019520989692 + ], + "target_position": [ + 0.27044125487379056, + -0.30905289122952373, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00726431153939488, + "xy_threshold": 0.08, + "gripper_dist": 0.18608394993075142, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019520989692, + "min_z": 0.5730800627579278, + "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": 0.07574644615996502, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558307809061456, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15360063445787597, + "release_required_pad_clearance": 0.052791539045307284, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6305580630351484, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006926178932189941, + "max_z_decrease": 0.006926178932189941, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512586931956151, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006926178932189941, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02123839039562972, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006926178932189941, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006926198545061252, + "max_button_displacement": 0.12, + "button_start": [ + 0.12614117562770844, + -0.3653143644332885, + 0.7768088579177856 + ], + "button_final": [ + 0.12614117562770844, + -0.3653143644332885, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1251318089274752, + -0.3669114749411456, + 0.8078870787887971 + ], + "closest_button": [ + 0.12613362073898315, + -0.3653172254562377, + 0.7728117108345032 + ], + "closest_ee_minus_button": [ + -0.0010018118115079633, + -0.0015942494849079392, + 0.03507536795429389 + ], + "button_min_z_position": [ + 0.12612469494342804, + -0.36531409621238703, + 0.7698826789855957 + ], + "min_active_finger_to_button": 0.14701946740092947, + "closest_active_finger": [ + -0.01612536609172821, + -0.3514503836631775, + 0.8108310103416443 + ], + "closest_active_finger_button": [ + 0.12614087760448456, + -0.36531642079353327, + 0.7764395475387573 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14226624369621277, + 0.01386603713035578, + 0.03439146280288696 + ], + "min_contact_pad_to_button": 0.02123839039562972, + "closest_contact_pad": [ + 0.12612469494342804, + -0.3680317618592871, + 0.7909464754152243 + ], + "closest_contact_pad_button": [ + 0.12612469494342804, + -0.36531409621238703, + 0.7698826789855957 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027176656469000693, + 0.021063796429628634 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7bdb7811b5b0f77f48034959627ecbbcd57c85e5313f01c074e08ce6b8751efb", + "visual_seed": 360585281188868320, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..27a2931045efd31976cb3f7e976ed6c0c037d280 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "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": [ + 0.32020318196324765, + 0.20755096030363432, + 1.1571010742434387 + ], + "current_z": 1.1571010742434387, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3005145072302283, + "gripper_z": 1.150362773197694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3149750478125424, + 0.20253197931928751, + 1.150362773197694 + ], + "object_minus_gripper": [ + 0.005228134150705277, + 0.005018980984346805, + 0.006738301045744688 + ], + "object_to_gripper_xy": 0.007247313765734557, + "object_to_gripper_z": 0.006738301045744688, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32020318196324765, + 0.18322497168101293, + 1.1571010742434387 + ], + "finger_b": [ + 0.3091130812010143, + 0.20755096030363432, + 1.1571010742434387 + ], + "finger_midpoint": [ + 0.31465813158213096, + 0.1953879659923236, + 1.1571010742434387 + ], + "object_minus_finger_midpoint": [ + 0.00554505038111669, + 0.01216299431131071, + 0.0 + ], + "finger_gap": 0.026734697630315454, + "fingertip_max_gap": 0.09030522688162687, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01336734881515774, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1571010742434387, + "object_top_z": 1.2027816875158517, + "finger_top_clearance": 0.04568061327241302, + "fingertip_min_top_clearance": 0.013704183981723872, + "object_projection_between_fingers": 0.8279239489355499, + "object_to_finger_line_xy": 0.01009091887614631, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04765261344081344, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6967211838873513, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.275254875472618, + -0.30858087178392835, + 0.8470197282024392 + ], + "target_position": [ + 0.26721067222288675, + -0.30905385346895536, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008058096400351513, + "xy_threshold": 0.08, + "gripper_dist": 0.18539835508009736, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197282024392, + "min_z": 0.5730800627579278, + "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": 0.0756363423124525, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08632973198836467, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15320077620904407, + "release_required_pad_clearance": 0.05316486599418234, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.353906427230932, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006741344928741455, + "max_z_decrease": 0.006741344928741455, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516725150694688, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006741344928741455, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021115217819656307, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006741344928741455, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006741364149366329, + "max_button_displacement": 0.12, + "button_start": [ + 0.12291059643030164, + -0.3653153181076049, + 0.7768088579177856 + ], + "button_final": [ + 0.12291059643030164, + -0.3653153181076049, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12467071604536734, + -0.3639989809068828, + 0.8080688108378302 + ], + "closest_button": [ + 0.1229039058089256, + -0.3653177320957184, + 0.7729707360267639 + ], + "closest_ee_minus_button": [ + 0.0017668102364417348, + 0.0013187511888355652, + 0.035098074811066304 + ], + "button_min_z_position": [ + 0.12289454042911525, + -0.36531648039817805, + 0.7700675129890442 + ], + "min_active_finger_to_button": 0.14408878870726669, + "closest_active_finger": [ + -0.002577170729637146, + -0.4272446632385254, + 0.8109703063964844 + ], + "closest_active_finger_button": [ + 0.12291134148836133, + -0.3653160333633423, + 0.7766329050064087 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12548851221799848, + -0.061928629875183105, + 0.034337401390075684 + ], + "min_contact_pad_to_button": 0.021115217819656307, + "closest_contact_pad": [ + 0.12289454042911525, + -0.36531648039817805, + 0.7911827308087005 + ], + "closest_contact_pad_button": [ + 0.12289454042911525, + -0.36531648039817805, + 0.7700675129890442 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021115217819656307 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ae5cc33a52208cb1861b71b7652f029b8a80e7cb08949b7a8c0b3c6a8d5c1f0", + "visual_seed": 8990903868692021570, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..751c0b7d4ecfd94ba7f7980e3b323b71dc193fa3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "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": [ + 0.32341683845627456, + 0.2082213804655588, + 1.1559339549070622 + ], + "current_z": 1.1559339549070622, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.29934732828920707, + "gripper_z": 1.1492266209733928, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31824209527116964, + 0.2033283831352937, + 1.1492266209733928 + ], + "object_minus_gripper": [ + 0.005174743185104913, + 0.004892997330265103, + 0.0067073339336694016 + ], + "object_to_gripper_xy": 0.007121754692894945, + "object_to_gripper_z": 0.0067073339336694016, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32341683845627456, + 0.1838028979705628, + 1.1559339549070622 + ], + "finger_b": [ + 0.31267896580839327, + 0.2082213804655588, + 1.1559339549070622 + ], + "finger_midpoint": [ + 0.3180479021323339, + 0.1960121392180608, + 1.1559339549070622 + ], + "object_minus_finger_midpoint": [ + 0.005368936323940643, + 0.012209241247498004, + 0.0 + ], + "finger_gap": 0.026675160662319234, + "fingertip_max_gap": 0.09033719155524614, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013337580331159617, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1559339549070622, + "object_top_z": 1.2016754929247235, + "finger_top_clearance": 0.04574153801766134, + "fingertip_min_top_clearance": 0.01372246140529837, + "object_projection_between_fingers": 0.8379599344769525, + "object_to_finger_line_xy": 0.009829464894513917, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766859577762307, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7846256801445802, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27825092703677196, + -0.31445050537169694, + 0.8470188130837659 + ], + "target_position": [ + 0.27058148999932, + -0.31485113459132735, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007679893765089536, + "xy_threshold": 0.08, + "gripper_dist": 0.18745199688261818, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470188130837659, + "min_z": 0.5730800627579278, + "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": 0.07568846788497059, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08696049916970063, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15493760020407804, + "release_required_pad_clearance": 0.053480249584850315, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.96993099584072, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006841540336608887, + "max_z_decrease": 0.006841540336608887, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035114397289068504, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006841540336608887, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02114863584037223, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006841540336608887, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006841559218328128, + "max_button_displacement": 0.12, + "button_start": [ + 0.12628141045570374, + -0.37111258506774897, + 0.7768088579177856 + ], + "button_final": [ + 0.12628141045570374, + -0.37111258506774897, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1269370948108925, + -0.37141398590110575, + 0.8081614482268962 + ], + "closest_button": [ + 0.12627367675304413, + -0.37111404538154596, + 0.7730545997619629 + ], + "closest_ee_minus_button": [ + 0.0006634180578483639, + -0.0002999405195597826, + 0.03510684846493328 + ], + "button_min_z_position": [ + 0.12626537680625916, + -0.3711137175559997, + 0.7699673175811768 + ], + "min_active_finger_to_button": 0.14552076918484433, + "closest_active_finger": [ + -0.014147303998470306, + -0.35448163747787476, + 0.8110998272895813 + ], + "closest_active_finger_button": [ + 0.1262853592634201, + -0.3711113333702087, + 0.7767717838287354 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1404326632618904, + 0.01662969589233393, + 0.03432804346084595 + ], + "min_contact_pad_to_button": 0.02114863584037223, + "closest_contact_pad": [ + 0.12626537680625916, + -0.3726247185347881, + 0.791061906317409 + ], + "closest_contact_pad_button": [ + 0.12626537680625916, + -0.3711137175559997, + 0.7699673175811768 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015110009787884238, + 0.021094588736232267 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "afcba23078e5f9c2d16f40226f71e4d45f98b4b54d261c26dd2e65d95a6cc798", + "visual_seed": 2781629230431151959, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..22486726eeb4bf57383ae943f76175f074ed3e6d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "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": [ + 0.3176731759450969, + 0.20457253791420052, + 1.1574130524953408 + ], + "current_z": 1.1574130524953408, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3008265450867752, + "gripper_z": 1.1506903808820348, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31259732706183396, + 0.1997411173134842, + 1.1506903808820348 + ], + "object_minus_gripper": [ + 0.005075848883262957, + 0.004831420600716313, + 0.006722671613305975 + ], + "object_to_gripper_xy": 0.007007629193011555, + "object_to_gripper_z": 0.006722671613305975, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3176731759450969, + 0.18027041288167142, + 1.1574130524953408 + ], + "finger_b": [ + 0.3069673542999477, + 0.20457253791420052, + 1.1574130524953408 + ], + "finger_midpoint": [ + 0.3123202651225223, + 0.19242147539793597, + 1.1574130524953408 + ], + "object_minus_finger_midpoint": [ + 0.005352910822574608, + 0.01215106251626455, + 0.0 + ], + "finger_gap": 0.026555750755616437, + "fingertip_max_gap": 0.09037140539178998, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013277875377808218, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1574130524953408, + "object_top_z": 1.2031077548183857, + "finger_top_clearance": 0.045694702323044956, + "fingertip_min_top_clearance": 0.013708410696913519, + "object_projection_between_fingers": 0.8374740025016755, + "object_to_finger_line_xy": 0.009797283405416312, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768570269589499, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6923672128852462, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27173560232856075, + -0.3113879714921192, + 0.8470195527148089 + ], + "target_position": [ + 0.26408207540304696, + -0.31162828139434096, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0076572986913578415, + "xy_threshold": 0.08, + "gripper_dist": 0.1853476226122303, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195527148089, + "min_z": 0.5730800627579278, + "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": 0.07531408629742918, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539263647433536, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15381455364054342, + "release_required_pad_clearance": 0.05269631823716768, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4476235595045908, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006705045700073242, + "max_z_decrease": 0.006705045700073242, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035127484223149937, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006705045700073242, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021099212978502035, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006705045700073242, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006705061652753422, + "max_button_displacement": 0.12, + "button_start": [ + 0.11978200078010559, + -0.36788973212242115, + 0.7768088579177856 + ], + "button_final": [ + 0.11978200078010559, + -0.36788973212242115, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11810726971487248, + -0.36656101318050244, + 0.8078803160013995 + ], + "closest_button": [ + 0.11977183073759079, + -0.3678905963897704, + 0.7728174924850464 + ], + "closest_ee_minus_button": [ + -0.0016645610227183083, + 0.0013295832092679594, + 0.03506282351635315 + ], + "button_min_z_position": [ + 0.11976737529039383, + -0.3678895831108092, + 0.7701038122177124 + ], + "min_active_finger_to_button": 0.1470841867257376, + "closest_active_finger": [ + -0.008560247719287872, + -0.4309493601322174, + 0.8110730648040771 + ], + "closest_active_finger_button": [ + 0.11978218704462051, + -0.3678930103778838, + 0.77663654088974 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1283424347639084, + -0.06305634975433361, + 0.03443652391433716 + ], + "min_contact_pad_to_button": 0.021099212978502035, + "closest_contact_pad": [ + 0.11976737529039383, + -0.3678895831108092, + 0.7912030251962144 + ], + "closest_contact_pad_button": [ + 0.11976737529039383, + -0.3678895831108092, + 0.7701038122177124 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021099212978502035 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "72e6f5580a2b8e28942a2f6afd2f36ef2e384e2a59d2ff7291eacec981a5454c", + "visual_seed": 8614717673895218518, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c1f581de9a2397a5c766715f375a4ba0c70b9c81 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "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": [ + 0.3171334959444704, + 0.21211133137744018, + 1.1579531770033795 + ], + "current_z": 1.1579531770033795, + "required_z": 0.8565863881992758, + "initial_z": 0.7565863881992758, + "lift_margin": 0.3013667888041037, + "gripper_z": 1.151247345590592, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3120600159237823, + 0.2072307810354525, + 1.151247345590592 + ], + "object_minus_gripper": [ + 0.0050734800206880815, + 0.004880550341987672, + 0.006705831412787466 + ], + "object_to_gripper_xy": 0.00703988431446122, + "object_to_gripper_z": 0.006705831412787466, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3171334959444704, + 0.18778985126305817, + 1.1579531770033795 + ], + "finger_b": [ + 0.3063766013502002, + 0.21211133137744018, + 1.1579531770033795 + ], + "finger_midpoint": [ + 0.3117550486473353, + 0.19995059132024917, + 1.1579531770033795 + ], + "object_minus_finger_midpoint": [ + 0.005378447297135103, + 0.012160740057191005, + 0.0 + ], + "finger_gap": 0.02659408160223848, + "fingertip_max_gap": 0.09027382162006145, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01329704080111924, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1579531770033795, + "object_top_z": 1.2036748854699486, + "finger_top_clearance": 0.04572170846656909, + "fingertip_min_top_clearance": 0.013716512539970726, + "object_projection_between_fingers": 0.8363922650938873, + "object_to_finger_line_xy": 0.009837662449867194, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04763691081003073, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7715122739256108, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27451399554542655, + -0.3147087430442436, + 0.8470196127286953 + ], + "target_position": [ + 0.26685445135130786, + -0.3151406476553297, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007671711598772116, + "xy_threshold": 0.08, + "gripper_dist": 0.18782878391719524, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196127286953, + "min_z": 0.5730800627579278, + "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": 0.0757194719942182, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08654926682996282, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15531034325371026, + "release_required_pad_clearance": 0.05327463341498141, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5686907645714099, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0069959163665771484, + "max_z_decrease": 0.0069959163665771484, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035168201289437984, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0069959163665771484, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02126503210024538, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0069959163665771484, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006995936192269196, + "max_button_displacement": 0.12, + "button_start": [ + 0.12255437672138211, + -0.3714021146297455, + 0.7768088579177856 + ], + "button_final": [ + 0.12255437672138211, + -0.3714021146297455, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12064081255549314, + -0.3729740076263729, + 0.8063573413580446 + ], + "closest_button": [ + 0.12253923714160916, + -0.3713975846767425, + 0.7712758183479309 + ], + "closest_ee_minus_button": [ + -0.0018984245861160265, + -0.001576422949630396, + 0.03508152301011369 + ], + "button_min_z_position": [ + 0.12253772467374799, + -0.3714017868041992, + 0.7698129415512085 + ], + "min_active_finger_to_button": 0.14758470405854698, + "closest_active_finger": [ + -0.019996292889118195, + -0.3547278642654419, + 0.8107022047042847 + ], + "closest_active_finger_button": [ + 0.12255514413118358, + -0.37140434980392456, + 0.7763186693191528 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14255143702030176, + 0.016676485538482666, + 0.034383535385131836 + ], + "min_contact_pad_to_button": 0.02126503210024538, + "closest_contact_pad": [ + 0.12253772467374799, + -0.37437646287335724, + 0.7908688882767311 + ], + "closest_contact_pad_button": [ + 0.12253772467374799, + -0.3714017868041992, + 0.7698129415512085 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002974676069158022, + 0.02105594672552258 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ede9af0e8c0e932dacc95d9450940d2dd284f6a44c9c6ec572abd66f3fe80aba", + "visual_seed": 1136857991087873009, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aa10b63aa1e62de4d478fa15e172455e1fd616d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "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": [ + 0.3229293622243489, + 0.2107026684865472, + 1.157518147147574 + ], + "current_z": 1.157518147147574, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.30093152052971883, + "gripper_z": 1.1508020557518512, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3177300338630996, + 0.20578243953221437, + 1.1508020557518512 + ], + "object_minus_gripper": [ + 0.005199328361249311, + 0.004920228954332834, + 0.006716091395722712 + ], + "object_to_gripper_xy": 0.007158328601785938, + "object_to_gripper_z": 0.006716091395722712, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3229293622243489, + 0.1862543485390166, + 1.157518147147574 + ], + "finger_b": [ + 0.3121713558607001, + 0.2107026684865472, + 1.157518147147574 + ], + "finger_midpoint": [ + 0.3175503590425245, + 0.1984785085127819, + 1.157518147147574 + ], + "object_minus_finger_midpoint": [ + 0.005379003181824438, + 0.012224159973765303, + 0.0 + ], + "finger_gap": 0.026710579349335187, + "fingertip_max_gap": 0.09039366059651369, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013355289674667606, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157518147147574, + "object_top_z": 1.2032511569811712, + "finger_top_clearance": 0.04573300983359729, + "fingertip_min_top_clearance": 0.013719902950079188, + "object_projection_between_fingers": 0.8377827712428527, + "object_to_finger_line_xy": 0.009846854242141455, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047696830298256845, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7276469903139345, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27081128865661747, + -0.3156029056945031, + 0.8470195989688464 + ], + "target_position": [ + 0.2636987376927201, + -0.3156228314330263, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007112578874718561, + "xy_threshold": 0.08, + "gripper_dist": 0.18608968627441114, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195989688464, + "min_z": 0.5730800627579278, + "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": 0.07586783044604477, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08760932797526154, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15326143230859507, + "release_required_pad_clearance": 0.05380466398763077, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6179117041152677, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006875574588775635, + "max_z_decrease": 0.006875574588775635, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035100697899615015, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006875574588775635, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021162423028958446, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006875574588775635, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006875591297596099, + "max_button_displacement": 0.12, + "button_start": [ + 0.11939866095781324, + -0.3718842864036559, + 0.7768088579177856 + ], + "button_final": [ + 0.11939866095781324, + -0.3718842864036559, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11847914947247659, + -0.3726394788516482, + 0.807920878301752 + ], + "closest_button": [ + 0.11939229071140288, + -0.3718864023685454, + 0.772840142250061 + ], + "closest_ee_minus_button": [ + -0.0009131412389262877, + -0.0007530764831027992, + 0.03508073605169093 + ], + "button_min_z_position": [ + 0.11938350647687909, + -0.3718846142292022, + 0.76993328332901 + ], + "min_active_finger_to_button": 0.14700783106958096, + "closest_active_finger": [ + -0.022525928914546967, + -0.3550036549568176, + 0.8108809590339661 + ], + "closest_active_finger_button": [ + 0.11939828842878339, + -0.3718863427639007, + 0.77647465467453 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14192421734333036, + 0.016882687807083074, + 0.034406304359436035 + ], + "min_contact_pad_to_button": 0.021162423028958446, + "closest_contact_pad": [ + 0.11938350647687909, + -0.3739016370457177, + 0.790999364298527 + ], + "closest_contact_pad_button": [ + 0.11938350647687909, + -0.3718846142292022, + 0.76993328332901 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020170228165155013, + 0.02106608096951701 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b663dad17bfccd12ec90580a5e0cb14cd8745d3c75026ffec1faf0da8f2a89d5", + "visual_seed": 343291790395940655, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1a354c2287a26ba58fdeab5bea1708637328bef6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "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": [ + 0.32543219933690115, + 0.20582139616991837, + 1.1569231679198388 + ], + "current_z": 1.1569231679198388, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3003366605112733, + "gripper_z": 1.1502051845837233, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3204508683135191, + 0.20073057827160368, + 1.1502051845837233 + ], + "object_minus_gripper": [ + 0.004981331023382052, + 0.005090817898314698, + 0.006717983336115507 + ], + "object_to_gripper_xy": 0.007122505573062737, + "object_to_gripper_z": 0.006717983336115507, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32543219933690115, + 0.18183417802481786, + 1.1569231679198388 + ], + "finger_b": [ + 0.3140148551955543, + 0.20582139616991837, + 1.1569231679198388 + ], + "finger_midpoint": [ + 0.3197235272662277, + 0.19382778709736811, + 1.1569231679198388 + ], + "object_minus_finger_midpoint": [ + 0.005708672070673437, + 0.01199360907255026, + 0.0 + ], + "finger_gap": 0.026565812270333226, + "fingertip_max_gap": 0.09052964092154578, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013282906135166613, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1569231679198388, + "object_top_z": 1.2027147257245836, + "finger_top_clearance": 0.045791557804744754, + "fingertip_min_top_clearance": 0.013737467341423426, + "object_projection_between_fingers": 0.8152927319603047, + "object_to_finger_line_xy": 0.010309126698979607, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776482046077289, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8472669943151759, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2708763763846763, + -0.31319789320865743, + 0.8470196278397903 + ], + "target_position": [ + 0.263772970033977, + -0.31322870324789553, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007103473167519783, + "xy_threshold": 0.08, + "gripper_dist": 0.1862030011811269, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196278397903, + "min_z": 0.5730800627579278, + "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": 0.07569343778072252, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853281476962104, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15378863526738257, + "release_required_pad_clearance": 0.0526640738481052, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3856289575358204, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006803929805755615, + "max_z_decrease": 0.006803929805755615, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511429826843034, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006803929805755615, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02125354895562236, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006803929805755615, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006803946252756481, + "max_button_displacement": 0.12, + "button_start": [ + 0.11947289854288098, + -0.3694901764392852, + 0.7768088579177856 + ], + "button_final": [ + 0.11947289854288098, + -0.3694901764392852, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11898113783486869, + -0.37090592930528327, + 0.8078379442417426 + ], + "closest_button": [ + 0.11946111917495723, + -0.36949110031127924, + 0.7727554440498352 + ], + "closest_ee_minus_button": [ + -0.000479981340088545, + -0.0014148289940040248, + 0.035082500191907395 + ], + "button_min_z_position": [ + 0.11945795267820356, + -0.36949083209037775, + 0.77000492811203 + ], + "min_active_finger_to_button": 0.14650764155201265, + "closest_active_finger": [ + -0.022081375122070312, + -0.353946328163147, + 0.8109945058822632 + ], + "closest_active_finger_button": [ + 0.11947306990623471, + -0.3694918751716614, + 0.7765682935714722 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14155444502830503, + 0.015545547008514404, + 0.034426212310791016 + ], + "min_contact_pad_to_button": 0.02125354895562236, + "closest_contact_pad": [ + 0.11945795267820356, + -0.3721233592853194, + 0.7910948106099703 + ], + "closest_contact_pad_button": [ + 0.11945795267820356, + -0.36949083209037775, + 0.77000492811203 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026325271949416695, + 0.021089882497940304 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1425e02c81e50fefe822407b8a57e980aa7390343a295f36f343bcb979a1f270", + "visual_seed": 8162110787848992089, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d07a0ac49b8051292e98a367ddc9a12e180ad5a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "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": [ + 0.32288000976797515, + 0.2095938427421264, + 1.1560122233156769 + ], + "current_z": 1.1560122233156769, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29942565630246654, + "gripper_z": 1.1492920355678773, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3178251618097614, + 0.2045095693265206, + 1.1492920355678773 + ], + "object_minus_gripper": [ + 0.0050548479582137595, + 0.0050842734156058, + 0.006720187747799589 + ], + "object_to_gripper_xy": 0.007169471671280505, + "object_to_gripper_z": 0.006720187747799589, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32288000976797515, + 0.18551929786574978, + 1.1560122233156769 + ], + "finger_b": [ + 0.31152119889612373, + 0.2095938427421264, + 1.1560122233156769 + ], + "finger_midpoint": [ + 0.31720060433204944, + 0.19755657030393808, + 1.1560122233156769 + ], + "object_minus_finger_midpoint": [ + 0.005679405435925711, + 0.012037272438188307, + 0.0 + ], + "finger_gap": 0.02661965994198952, + "fingertip_max_gap": 0.09039104446899723, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01330982997099476, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1560122233156769, + "object_top_z": 1.2017757627786927, + "finger_top_clearance": 0.04576353946301581, + "fingertip_min_top_clearance": 0.013729061838904743, + "object_projection_between_fingers": 0.817920634836143, + "object_to_finger_line_xy": 0.010272790962491318, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04769552223449862, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7978829457044171, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.275420427464485, + -0.3103036593541581, + 0.8470180059581961 + ], + "target_position": [ + 0.267904649959345, + -0.31047994749180385, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007517844705382178, + "xy_threshold": 0.08, + "gripper_dist": 0.18730651868262385, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470180059581961, + "min_z": 0.5730800627579278, + "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": 0.07532829655448714, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08505532469303669, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15577941628058845, + "release_required_pad_clearance": 0.052527662346518345, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11861061068182772, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006784260272979736, + "max_z_decrease": 0.006784260272979736, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510468655713292, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006784260272979736, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021078034296594352, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006784260272979736, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006784276836580723, + "max_button_displacement": 0.12, + "button_start": [ + 0.12360457330942154, + -0.366741418838501, + 0.7768088579177856 + ], + "button_final": [ + 0.12360457330942154, + -0.366741418838501, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12253177414970653, + -0.3659883390483712, + 0.8078806252171864 + ], + "closest_button": [ + 0.12359447032213211, + -0.36674317717552185, + 0.7728001475334167 + ], + "closest_ee_minus_button": [ + -0.0010626961724255757, + 0.0007548381271506588, + 0.03508047768376965 + ], + "button_min_z_position": [ + 0.12358960509300232, + -0.36674225330352783, + 0.7700245976448059 + ], + "min_active_finger_to_button": 0.14679952404693863, + "closest_active_finger": [ + -0.004358500242233276, + -0.4299343228340149, + 0.8109434843063354 + ], + "closest_active_finger_button": [ + 0.12360511720180511, + -0.36674344539642334, + 0.776558518409729 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1279636174440384, + -0.06319087743759155, + 0.034384965896606445 + ], + "min_contact_pad_to_button": 0.021078034296594352, + "closest_contact_pad": [ + 0.12358960509300232, + -0.3670358509510269, + 0.7911005870694994 + ], + "closest_contact_pad_button": [ + 0.12358960509300232, + -0.36674225330352783, + 0.7700245976448059 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002935976474990887, + 0.021075989424693464 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a7b85b39aa1aa85d657ac07e19d1f348d472c7bc1d51450ff7d47f98ce99f4ab", + "visual_seed": 2662914100542701634, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0491321249be20a12fed5398cdf729a6bc8f0d9f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "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": [ + 0.3216727081290553, + 0.20992064114687087, + 1.1568672795746011 + ], + "current_z": 1.1568672795746011, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.300280652956746, + "gripper_z": 1.1501541605667347, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3167356101047808, + 0.20489297844131082, + 1.1501541605667347 + ], + "object_minus_gripper": [ + 0.0049370980242745, + 0.005027662705560043, + 0.006713119007866419 + ], + "object_to_gripper_xy": 0.007046440887581084, + "object_to_gripper_z": 0.006713119007866419, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3216727081290553, + 0.186053574696284, + 1.1568672795746011 + ], + "finger_b": [ + 0.3102422459088491, + 0.20992064114687087, + 1.1568672795746011 + ], + "finger_midpoint": [ + 0.31595747701895216, + 0.19798710792157742, + 1.1568672795746011 + ], + "object_minus_finger_midpoint": [ + 0.005715231110103136, + 0.011933533225293447, + 0.0 + ], + "finger_gap": 0.026463037004929926, + "fingertip_max_gap": 0.09063442641987637, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01323151850246499, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1568672795746011, + "object_top_z": 1.2026523676160918, + "finger_top_clearance": 0.04578508804149073, + "fingertip_min_top_clearance": 0.013735526412447251, + "object_projection_between_fingers": 0.813427248261506, + "object_to_finger_line_xy": 0.010309156931600899, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781721320993819, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8796358042689714, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2677416346755155, + -0.31603771678390236, + 0.847019617566697 + ], + "target_position": [ + 0.2609595358885194, + -0.3157562042385509, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006787938808634337, + "xy_threshold": 0.08, + "gripper_dist": 0.18527871592827957, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019617566697, + "min_z": 0.5730800627579278, + "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": 0.0753511791980514, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08609288641559333, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15373097836444813, + "release_required_pad_clearance": 0.05304644320779667, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1232513097812369, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0068166255950927734, + "max_z_decrease": 0.0068166255950927734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035096237599897544, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0068166255950927734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021117648801022, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0068166255950927734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006816646120938604, + "max_button_displacement": 0.12, + "button_start": [ + 0.1166594624519348, + -0.3720176517963409, + 0.7768088579177856 + ], + "button_final": [ + 0.1166594624519348, + -0.3720176517963409, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11709067347521229, + -0.37102797799101955, + 0.8078405292905595 + ], + "closest_button": [ + 0.11664862185716629, + -0.3720181286334991, + 0.7727610468864441 + ], + "closest_ee_minus_button": [ + 0.0004420516180460021, + 0.000990150642479537, + 0.0350794824041154 + ], + "button_min_z_position": [ + 0.1166427507996559, + -0.3720183968544006, + 0.7699922323226929 + ], + "min_active_finger_to_button": 0.14539866418393332, + "closest_active_finger": [ + -0.010067492723464966, + -0.4344320297241211, + 0.8110150098800659 + ], + "closest_active_finger_button": [ + 0.11666028201580048, + -0.3720189929008483, + 0.7765845656394958 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12672777473926544, + -0.062413036823272816, + 0.03443044424057007 + ], + "min_contact_pad_to_button": 0.021117648801022, + "closest_contact_pad": [ + 0.1166427507996559, + -0.37211229924736233, + 0.7911096723480345 + ], + "closest_contact_pad_button": [ + 0.1166427507996559, + -0.3720183968544006, + 0.7699922323226929 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -9.390239296175329e-05, + 0.02111744002534166 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "67a27e53a0a4065d967a58bf59bfd9e8cf82e5390728c5e32c9ee84965877775", + "visual_seed": 6634536900530567004, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fc2b7abf9f11b74aceb9f38fb3192fea70f9e10c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "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": [ + 0.3191634779692955, + 0.20329038450066272, + 1.1577452617471653 + ], + "current_z": 1.1577452617471653, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3011588139432445, + "gripper_z": 1.1510356180964203, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3141750407504952, + 0.19840041083805712, + 1.1510356180964203 + ], + "object_minus_gripper": [ + 0.004988437218800323, + 0.004889973662605601, + 0.006709643650745001 + ], + "object_to_gripper_xy": 0.006985438304565344, + "object_to_gripper_z": 0.006709643650745001, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3191634779692955, + 0.1790875334283491, + 1.1577452617471653 + ], + "finger_b": [ + 0.30831923589569615, + 0.20329038450066272, + 1.1577452617471653 + ], + "finger_midpoint": [ + 0.31374135693249583, + 0.1911889589645059, + 1.1577452617471653 + ], + "object_minus_finger_midpoint": [ + 0.005422121036799676, + 0.012101425536156812, + 0.0 + ], + "finger_gap": 0.026521228971889955, + "fingertip_max_gap": 0.09039182638580648, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013260614485944977, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1577452617471653, + "object_top_z": 1.2034841026360827, + "finger_top_clearance": 0.04573884088891744, + "fingertip_min_top_clearance": 0.013721652266675266, + "object_projection_between_fingers": 0.8328096845248965, + "object_to_finger_line_xy": 0.009896282565850458, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04769591319290324, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7489814968859029, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27120273979106174, + -0.31233336583000737, + 0.8470198153964642 + ], + "target_position": [ + 0.2634077845719525, + -0.31261699716245284, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007800113691521612, + "xy_threshold": 0.08, + "gripper_dist": 0.18566207615844255, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198153964642, + "min_z": 0.5730800627579278, + "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": 0.07554488678535735, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08591728828919147, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15367811120113506, + "release_required_pad_clearance": 0.05295864414459574, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9512013188599971, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006685137748718262, + "max_z_decrease": 0.006685137748718262, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515616461949848, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006685137748718262, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021311910958684458, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006685137748718262, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00668515755897746, + "max_button_displacement": 0.12, + "button_start": [ + 0.11910770833492276, + -0.3688784539699554, + 0.7768088579177856 + ], + "button_final": [ + 0.11910770833492276, + -0.3688784539699554, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11736199934692418, + -0.37079098547786027, + 0.8080532054950446 + ], + "closest_button": [ + 0.11910029500722884, + -0.3688823282718658, + 0.772991955280304 + ], + "closest_ee_minus_button": [ + -0.001738295660304659, + -0.0019086572059944795, + 0.0350612502147406 + ], + "button_min_z_position": [ + 0.1190914362668991, + -0.3688781559467315, + 0.7701237201690674 + ], + "min_active_finger_to_button": 0.14766477191862476, + "closest_active_finger": [ + -0.023588523268699646, + -0.35274189710617065, + 0.8110294938087463 + ], + "closest_active_finger_button": [ + 0.11910769343376158, + -0.36888077855110163, + 0.7766461968421936 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14269621670246124, + 0.016138881444930975, + 0.034383296966552734 + ], + "min_contact_pad_to_button": 0.021311910958684458, + "closest_contact_pad": [ + 0.1190914362668991, + -0.37216009070275385, + 0.791181413608001 + ], + "closest_contact_pad_button": [ + 0.1190914362668991, + -0.3688781559467315, + 0.7701237201690674 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003281934756022342, + 0.0210576934389336 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "858ecc94a0c859dd1be1cc21132d57b3510676d7e46c2539cbd65f664bec2a31", + "visual_seed": 3144429273505448301, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c0217a5a89d283c07df9a91cba01ea9210ebd8b9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "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": [ + 0.3179527476996497, + 0.20676153770202788, + 1.159231125424016 + ], + "current_z": 1.159231125424016, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3026445584108056, + "gripper_z": 1.1524974745008147, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31301082692608145, + 0.2016677784840516, + 1.1524974745008147 + ], + "object_minus_gripper": [ + 0.0049419207735682535, + 0.005093759217976279, + 0.006733650923201218 + ], + "object_to_gripper_xy": 0.0070971095456491134, + "object_to_gripper_z": 0.006733650923201218, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3179527476996497, + 0.18268119368388766, + 1.159231125424016 + ], + "finger_b": [ + 0.3066776260540258, + 0.20676153770202788, + 1.159231125424016 + ], + "finger_midpoint": [ + 0.3123151868768378, + 0.19472136569295778, + 1.159231125424016 + ], + "object_minus_finger_midpoint": [ + 0.005637560822811916, + 0.012040172009070094, + 0.0 + ], + "finger_gap": 0.026589308681415496, + "fingertip_max_gap": 0.09036288029646025, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013294654340707724, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159231125424016, + "object_top_z": 1.204958097498452, + "finger_top_clearance": 0.04572697207443599, + "fingertip_min_top_clearance": 0.01371809162233083, + "object_projection_between_fingers": 0.8201839801674213, + "object_to_finger_line_xy": 0.010211202228915865, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768144014823013, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7704759977802151, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 388, + "max_stable_success_frames": 388, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27400168245467316, + -0.31522753853957747, + 0.8470197065063547 + ], + "target_position": [ + 0.2661313082317422, + -0.31568158535916824, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007883460466277274, + "xy_threshold": 0.08, + "gripper_dist": 0.18702879361785374, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197065063547, + "min_z": 0.5730800627579278, + "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": 0.07527158578552845, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08501904136978318, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15555424797385597, + "release_required_pad_clearance": 0.05250952068489159, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08845670310525118, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006949365139007568, + "max_z_decrease": 0.006949365139007568, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515513654688393, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006949365139007568, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02110325243033151, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006949365139007568, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0069493891024238605, + "max_button_displacement": 0.12, + "button_start": [ + 0.1218312308192253, + -0.3719430565834045, + 0.7768088579177856 + ], + "button_final": [ + 0.1218312308192253, + -0.3719430565834045, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1209729596426469, + -0.37008171006301877, + 0.8078733582115044 + ], + "closest_button": [ + 0.12182516604661939, + -0.37194600701332087, + 0.7727780342102051 + ], + "closest_ee_minus_button": [ + -0.0008522064039724886, + 0.0018642969503021023, + 0.03509532400129933 + ], + "button_min_z_position": [ + 0.12181298434734343, + -0.3719434142112732, + 0.7698594927787781 + ], + "min_active_finger_to_button": 0.1461689515199077, + "closest_active_finger": [ + -0.007095761597156525, + -0.4316510558128357, + 0.8107227683067322 + ], + "closest_active_finger_button": [ + 0.12183130532503127, + -0.37194445729255676, + 0.7763964533805847 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1289270669221878, + -0.05970659852027893, + 0.03432631492614746 + ], + "min_contact_pad_to_button": 0.02110325243033151, + "closest_contact_pad": [ + 0.12181298434734343, + -0.3719434142112732, + 0.7909627452091096 + ], + "closest_contact_pad_button": [ + 0.12181298434734343, + -0.3719434142112732, + 0.7698594927787781 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02110325243033151 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d15a02cdd2aa7a89e6506e879235bb25c3eea936c7a5af019fb9190f26334e71", + "visual_seed": 8004958497720755031, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4493b2d898dea4a7d69e0ca8dccde0517250d4f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "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": [ + 0.3246117054241463, + 0.21246237152093717, + 1.156132096269754 + ], + "current_z": 1.156132096269754, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29954552925654376, + "gripper_z": 1.1494160637777207, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31950813044601195, + 0.20752908474936255, + 1.1494160637777207 + ], + "object_minus_gripper": [ + 0.005103574978134351, + 0.004933286771574619, + 0.006716032492033452 + ], + "object_to_gripper_xy": 0.00709815440294392, + "object_to_gripper_z": 0.006716032492033452, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3246117054241463, + 0.1881620778764416, + 1.156132096269754 + ], + "finger_b": [ + 0.31372115221361396, + 0.21246237152093717, + 1.156132096269754 + ], + "finger_midpoint": [ + 0.31916642881888013, + 0.20031222469868937, + 1.156132096269754 + ], + "object_minus_finger_midpoint": [ + 0.005445276605266169, + 0.012150146822247798, + 0.0 + ], + "finger_gap": 0.02662908974111109, + "fingertip_max_gap": 0.09033092931294875, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01331454487055556, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156132096269754, + "object_top_z": 1.2018855078085964, + "finger_top_clearance": 0.04575341153884227, + "fingertip_min_top_clearance": 0.013726023461652715, + "object_projection_between_fingers": 0.8327418687852869, + "object_to_finger_line_xy": 0.009938140715278428, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766546465647438, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8073669637355086, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2751851495188367, + -0.3063830392271713, + 0.8470194784803537 + ], + "target_position": [ + 0.2670202724512109, + -0.30683817849519185, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008177552768569341, + "xy_threshold": 0.08, + "gripper_dist": 0.18898159099349598, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194784803537, + "min_z": 0.5730800627579278, + "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": 0.0754428213148631, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08574818612044864, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15716157518751572, + "release_required_pad_clearance": 0.05287409306022432, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7893144393360694, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00673830509185791, + "max_z_decrease": 0.00673830509185791, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513328250023011, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00673830509185791, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02119587041944649, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00673830509185791, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006738323989355028, + "max_button_displacement": 0.12, + "button_start": [ + 0.12272019684314726, + -0.36309963464736933, + 0.7768088579177856 + ], + "button_final": [ + 0.12272019684314726, + -0.36309963464736933, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12419764615613324, + -0.3638959281677392, + 0.8079011552241353 + ], + "closest_button": [ + 0.12270890176296233, + -0.36310094594955444, + 0.7728084325790405 + ], + "closest_ee_minus_button": [ + 0.0014887443931709127, + -0.0007949822181847477, + 0.035092722645094776 + ], + "button_min_z_position": [ + 0.12270428985357283, + -0.36310091614723206, + 0.7700705528259277 + ], + "min_active_finger_to_button": 0.14468526687729297, + "closest_active_finger": [ + -0.017068855464458466, + -0.3486975133419037, + 0.81105637550354 + ], + "closest_active_finger_button": [ + 0.1227215379476547, + -0.3631012737751007, + 0.7766324877738953 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13979039341211316, + 0.014403760433197021, + 0.034423887729644775 + ], + "min_contact_pad_to_button": 0.02119587041944649, + "closest_contact_pad": [ + 0.12270428985357283, + -0.3649700525000906, + 0.7911838484505428 + ], + "closest_contact_pad_button": [ + 0.12270428985357283, + -0.36310091614723206, + 0.7700705528259277 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018691363528585692, + 0.02111329562461506 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f32d8714f3bb5bbc48066f5e3c35760767aa9cd021105e5637099bb182b78b6b", + "visual_seed": 8305072868582186241, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6222b0475400b0c8101135dab4e3041334797fc9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "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": [ + 0.3177621496812743, + 0.21109111221483465, + 1.15610523605039 + ], + "current_z": 1.15610523605039, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.2995187882464695, + "gripper_z": 1.1493786725283537, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31260764265794505, + 0.20610946993179796, + 1.1493786725283537 + ], + "object_minus_gripper": [ + 0.005154507023329258, + 0.004981642283036686, + 0.006726563522036377 + ], + "object_to_gripper_xy": 0.007168382138927138, + "object_to_gripper_z": 0.006726563522036377, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3177621496812743, + 0.1867747663093816, + 1.15610523605039 + ], + "finger_b": [ + 0.3067820335373762, + 0.21109111221483465, + 1.15610523605039 + ], + "finger_midpoint": [ + 0.31227209160932523, + 0.19893293926210814, + 1.15610523605039 + ], + "object_minus_finger_midpoint": [ + 0.005490058071949078, + 0.012158172952726504, + 0.0 + ], + "finger_gap": 0.02668047279804341, + "fingertip_max_gap": 0.09040824306302983, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013340236399021703, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.15610523605039, + "object_top_z": 1.201820365347731, + "finger_top_clearance": 0.045715129297341006, + "fingertip_min_top_clearance": 0.0137145387892023, + "object_projection_between_fingers": 0.830633768143511, + "object_to_finger_line_xy": 0.010007180317158956, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04770412153151492, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6932592054271277, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2697169005824311, + -0.3101134177612461, + 0.8470195672063181 + ], + "target_position": [ + 0.261950392802281, + -0.3101450388300017, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007766572151929132, + "xy_threshold": 0.08, + "gripper_dist": 0.18628888124313148, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195672063181, + "min_z": 0.5730800627579278, + "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": 0.0752149755211893, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854925476236504, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15490579238707564, + "release_required_pad_clearance": 0.0527462738118252, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5424836113293869, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006651341915130615, + "max_z_decrease": 0.006651341915130615, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509027178417417, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006651341915130615, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021190955332118167, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006651341915130615, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006651363440000964, + "max_button_displacement": 0.12, + "button_start": [ + 0.11765031516551969, + -0.36640650033950806, + 0.7768088579177856 + ], + "button_final": [ + 0.11765031516551969, + -0.36640650033950806, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11742538473194053, + -0.3670729166334438, + 0.8079744434720596 + ], + "closest_button": [ + 0.11763916164636608, + -0.3664090037345886, + 0.772891104221344 + ], + "closest_ee_minus_button": [ + -0.00021377691442554803, + -0.0006639128988552012, + 0.035083339250715606 + ], + "button_min_z_position": [ + 0.11763339489698406, + -0.36640670895576477, + 0.770157516002655 + ], + "min_active_finger_to_button": 0.14634338876018363, + "closest_active_finger": [ + -0.023646607995033264, + -0.3501582443714142, + 0.8111616373062134 + ], + "closest_active_finger_button": [ + 0.11765460669994351, + -0.366407573223114, + 0.7767187356948853 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14130121469497678, + 0.01624932885169983, + 0.034442901611328125 + ], + "min_contact_pad_to_button": 0.021190955332118167, + "closest_contact_pad": [ + 0.11763339489698406, + -0.36834415762209666, + 0.7912597168488501 + ], + "closest_contact_pad_button": [ + 0.11763339489698406, + -0.36640670895576477, + 0.770157516002655 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019374486663318868, + 0.021102200846195074 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "910eb7b2c34b5677df9b0a24ada44eb46a239fa4ba3a7de31bb26023fd371e06", + "visual_seed": 127451866873883987, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..df052f576c5490864029a74a393185ac3dc57de5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "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": [ + 0.32566315108851934, + 0.21270254246517567, + 1.1587638868537187 + ], + "current_z": 1.1587638868537187, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3021773794451531, + "gripper_z": 1.1520499029684197, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3205274193604962, + 0.20750470221482195, + 1.1520499029684197 + ], + "object_minus_gripper": [ + 0.0051357317280231185, + 0.005197840250353719, + 0.00671398388529898 + ], + "object_to_gripper_xy": 0.007307070798235128, + "object_to_gripper_z": 0.00671398388529898, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32566315108851934, + 0.18865679081339584, + 1.1587638868537187 + ], + "finger_b": [ + 0.31403261642135255, + 0.21270254246517567, + 1.1587638868537187 + ], + "finger_midpoint": [ + 0.31984788375493595, + 0.20067966663928577, + 1.1587638868537187 + ], + "object_minus_finger_midpoint": [ + 0.005815267333583396, + 0.0120228758258899, + 0.0 + ], + "finger_gap": 0.026710812588598663, + "fingertip_max_gap": 0.09057311837469631, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01335540629429932, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1587638868537187, + "object_top_z": 1.2045460292084598, + "finger_top_clearance": 0.045782142354741096, + "fingertip_min_top_clearance": 0.013734642706422296, + "object_projection_between_fingers": 0.8104057509127428, + "object_to_finger_line_xy": 0.010470102594463234, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778655918734816, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8317584953173802, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 379, + "max_stable_success_frames": 379, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2736403745504881, + -0.31036658849907406, + 0.8470194984541658 + ], + "target_position": [ + 0.2665075979114143, + -0.3104231140764347, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007133000611510763, + "xy_threshold": 0.08, + "gripper_dist": 0.18418138873177095, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194984541658, + "min_z": 0.5730800627579278, + "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": 0.07563643724923153, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08546233757261927, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15187751283719217, + "release_required_pad_clearance": 0.05273116878630964, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5143412743837799, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006790101528167725, + "max_z_decrease": 0.006790101528167725, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510098681181213, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006790101528167725, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021154503291077313, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006790101528167725, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006790119221025383, + "max_button_displacement": 0.12, + "button_start": [ + 0.12220752239227291, + -0.36668458580970764, + 0.7768088579177856 + ], + "button_final": [ + 0.12220752239227291, + -0.36668458580970764, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12183481680679231, + -0.3669219019921878, + 0.8079851331456154 + ], + "closest_button": [ + 0.12219861149787899, + -0.3666877448558807, + 0.7728868126869202 + ], + "closest_ee_minus_button": [ + -0.0003637946910866746, + -0.00023415713630714485, + 0.03509832045869521 + ], + "button_min_z_position": [ + 0.12219206988811489, + -0.3666858077049255, + 0.7700187563896179 + ], + "min_active_finger_to_button": 0.14651489365147813, + "closest_active_finger": [ + -0.019079282879829407, + -0.34866252541542053, + 0.8108620047569275 + ], + "closest_active_finger_button": [ + 0.12220769375562664, + -0.36668592691421503, + 0.7765143513679504 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14128697663545603, + 0.0180234014987945, + 0.03434765338897705 + ], + "min_contact_pad_to_button": 0.021154503291077313, + "closest_contact_pad": [ + 0.12219206988811489, + -0.36828060610958707, + 0.7911130595907357 + ], + "closest_contact_pad_button": [ + 0.12219206988811489, + -0.3666858077049255, + 0.7700187563896179 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015947984046615904, + 0.021094303201117826 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a40c1e21d61240d26f8037891edd72e0fc58a3f7f4a7e4f33d28af02030068ff", + "visual_seed": 5663337967143056246, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..daf3d63b2ffe5fa972710877db8d3b663997b65a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "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": [ + 0.32365418008617375, + 0.20520199383820464, + 1.1582610472281745 + ], + "current_z": 1.1582610472281745, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.30167448021496435, + "gripper_z": 1.151544902360103, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31864743003679113, + 0.20011511224204973, + 1.151544902360103 + ], + "object_minus_gripper": [ + 0.005006750049382613, + 0.0050868815961549185, + 0.006716144868071483 + ], + "object_to_gripper_xy": 0.007137500292840093, + "object_to_gripper_z": 0.006716144868071483, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32365418008617375, + 0.18102344411408058, + 1.1582610472281745 + ], + "finger_b": [ + 0.31245421511312943, + 0.20520199383820464, + 1.1582610472281745 + ], + "finger_midpoint": [ + 0.3180541975996516, + 0.19311271897614263, + 1.1582610472281745 + ], + "object_minus_finger_midpoint": [ + 0.005599982486522159, + 0.012089274862062016, + 0.0 + ], + "finger_gap": 0.02664660357642901, + "fingertip_max_gap": 0.09047792071105479, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013323301788214491, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1582610472281745, + "object_top_z": 1.2040340070536066, + "finger_top_clearance": 0.04577295982543217, + "fingertip_min_top_clearance": 0.013731887947629617, + "object_projection_between_fingers": 0.8233353704688671, + "object_to_finger_line_xy": 0.010162605122731, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047738960355527396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.849791204964044, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 389, + "max_stable_success_frames": 389, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27163111909057325, + -0.3147163793780399, + 0.8470195448602035 + ], + "target_position": [ + 0.2641353948884874, + -0.3150222408650328, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007501961914256878, + "xy_threshold": 0.08, + "gripper_dist": 0.18875951100634206, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195448602035, + "min_z": 0.5730800627579278, + "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": 0.07542899252418397, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504853972972708, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15695379250486427, + "release_required_pad_clearance": 0.05252426986486354, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11869402946325909, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006808638572692871, + "max_z_decrease": 0.006808638572692871, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511116617740498, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006808638572692871, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02111032812653362, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006808638572692871, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006808655929370756, + "max_button_displacement": 0.12, + "button_start": [ + 0.11983532458543776, + -0.3712837100028991, + 0.7768088579177856 + ], + "button_final": [ + 0.11983532458543776, + -0.3712837100028991, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11967499862109476, + -0.370333977952737, + 0.8080036156280275 + ], + "closest_button": [ + 0.1198301538825035, + -0.3712862133979797, + 0.772905707359314 + ], + "closest_ee_minus_button": [ + -0.00015515526140873204, + 0.0009522354452426995, + 0.03509790826871351 + ], + "button_min_z_position": [ + 0.11981996893882751, + -0.37128445506095886, + 0.7700002193450928 + ], + "min_active_finger_to_button": 0.14593284529353434, + "closest_active_finger": [ + -0.008624419569969177, + -0.4314204156398773, + 0.8108746409416199 + ], + "closest_active_finger_button": [ + 0.11983578652143477, + -0.37128487229347223, + 0.776551365852356 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12846020609140396, + -0.060135543346405085, + 0.034323275089263916 + ], + "min_contact_pad_to_button": 0.02111032812653362, + "closest_contact_pad": [ + 0.11981996893882751, + -0.3716749341634817, + 0.7911069358040878 + ], + "closest_contact_pad_button": [ + 0.11981996893882751, + -0.37128445506095886, + 0.7700002193450928 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003904791025228227, + 0.02110671645899498 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "05bc8eb56ec6deef258a9b804513a703f31c823847d13758984cbbf217957acf", + "visual_seed": 5372684829014095435, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..15fef9ce9adcca08189121e32b34e56609923d2c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "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": [ + 0.32263382856977313, + 0.2073423690011616, + 1.1594401038095115 + ], + "current_z": 1.1594401038095115, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3028535367963011, + "gripper_z": 1.1527063171644218, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3175989658371838, + 0.2021684105741034, + 1.1527063171644218 + ], + "object_minus_gripper": [ + 0.005034862732589351, + 0.005173958427058201, + 0.006733786645089612 + ], + "object_to_gripper_xy": 0.007219396688155021, + "object_to_gripper_z": 0.006733786645089612, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32263382856977313, + 0.1832338296607942, + 1.1594401038095115 + ], + "finger_b": [ + 0.3111967486170685, + 0.2073423690011616, + 1.1594401038095115 + ], + "finger_midpoint": [ + 0.3169152885934208, + 0.1952880993309779, + 1.1594401038095115 + ], + "object_minus_finger_midpoint": [ + 0.005718539976352355, + 0.012054269670183693, + 0.0 + ], + "finger_gap": 0.02668386154533486, + "fingertip_max_gap": 0.0904213233812178, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013341930772667442, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1594401038095115, + "object_top_z": 1.2051821661980837, + "finger_top_clearance": 0.04574206238857226, + "fingertip_min_top_clearance": 0.013722618716571678, + "object_projection_between_fingers": 0.816289932337832, + "object_to_finger_line_xy": 0.010333260480693555, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047710661690608905, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7921165184775603, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 388, + "max_stable_success_frames": 388, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27735325005896855, + -0.3066415210996234, + 0.8470195850640435 + ], + "target_position": [ + 0.2694132826490401, + -0.3071315335365608, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007955073516887168, + "xy_threshold": 0.08, + "gripper_dist": 0.18848874067367308, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195850640435, + "min_z": 0.5730800627579278, + "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": 0.07541013471120808, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085952163657262, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15674078170500547, + "release_required_pad_clearance": 0.052976081828631005, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.986743349152348, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006765961647033691, + "max_z_decrease": 0.006765961647033691, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035220526722343215, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006765961647033691, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02110868138198907, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006765961647033691, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006765980702453846, + "max_button_displacement": 0.12, + "button_start": [ + 0.12511320412158966, + -0.36339297890663136, + 0.7768088579177856 + ], + "button_final": [ + 0.12511320412158966, + -0.36339297890663136, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12712993012956478, + -0.36155127040678603, + 0.8080223724826472 + ], + "closest_button": [ + 0.1251039206981659, + -0.3633967339992522, + 0.772908627986908 + ], + "closest_ee_minus_button": [ + 0.002026009431398884, + 0.0018454635924661789, + 0.03511374449573923 + ], + "button_min_z_position": [ + 0.12509723007678986, + -0.36339461803436274, + 0.770042896270752 + ], + "min_active_finger_to_button": 0.1436201405152324, + "closest_active_finger": [ + -0.0007964074611663818, + -0.4233952462673187, + 0.8108033537864685 + ], + "closest_active_finger_button": [ + 0.12511324882507324, + -0.36339488625526417, + 0.7765475511550903 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12590965628623962, + -0.060000360012054554, + 0.034255802631378174 + ], + "min_contact_pad_to_button": 0.02110868138198907, + "closest_contact_pad": [ + 0.12509723007678986, + -0.36339461803436274, + 0.791151577652741 + ], + "closest_contact_pad_button": [ + 0.12509723007678986, + -0.36339461803436274, + 0.770042896270752 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02110868138198907 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "622c96ca3ba4587507d6c999adfbd16e182d614e05c6be1a81e712258fba6d17", + "visual_seed": 2451465745270758492, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..335a7389ab8db5dc3532a86eba27ac1687292f2f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "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": [ + 0.32298954649286177, + 0.20897021916960254, + 1.1586279915889348 + ], + "current_z": 1.1586279915889348, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.3020414245757247, + "gripper_z": 1.1519116563902219, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3178116739024711, + 0.2039851967717984, + 1.1519116563902219 + ], + "object_minus_gripper": [ + 0.005177872590390653, + 0.004985022397804129, + 0.006716335198712953 + ], + "object_to_gripper_xy": 0.0071875456776933, + "object_to_gripper_z": 0.006716335198712953, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32298954649286177, + 0.1846520065197974, + 1.1586279915889348 + ], + "finger_b": [ + 0.3119816076358883, + 0.20897021916960254, + 1.1586279915889348 + ], + "finger_midpoint": [ + 0.317485577064375, + 0.1968111128447, + 1.1586279915889348 + ], + "object_minus_finger_midpoint": [ + 0.0055039694284867435, + 0.012159106324902552, + 0.0 + ], + "finger_gap": 0.026693635652717092, + "fingertip_max_gap": 0.09030916330500635, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013346817826358534, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1586279915889348, + "object_top_z": 1.2043614804979992, + "finger_top_clearance": 0.04573348890906437, + "fingertip_min_top_clearance": 0.013720046672719277, + "object_projection_between_fingers": 0.82994219840431, + "object_to_finger_line_xy": 0.010028360371835913, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04765458165250318, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7700988031025396, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27028817918462855, + -0.3096891168018464, + 0.8470194482612379 + ], + "target_position": [ + 0.2622541962846607, + -0.3100400210666736, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008041642558585286, + "xy_threshold": 0.08, + "gripper_dist": 0.18474055917338614, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194482612379, + "min_z": 0.5730800627579278, + "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": 0.07536022711288326, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853604531346056, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15318046821011483, + "release_required_pad_clearance": 0.0526802265673028, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.41684001874827276, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006657838821411133, + "max_z_decrease": 0.006657838821411133, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035100709971100624, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006657838821411133, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021222580360570644, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006657838821411133, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006657857988785873, + "max_button_displacement": 0.12, + "button_start": [ + 0.11795412003993987, + -0.3663014769554138, + 0.7768088579177856 + ], + "button_final": [ + 0.11795412003993987, + -0.3663014769554138, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11689244101424581, + -0.36760446230063715, + 0.8079580305882258 + ], + "closest_button": [ + 0.11794278025627135, + -0.36630305647850037, + 0.7728971838951111 + ], + "closest_ee_minus_button": [ + -0.0010503392420255359, + -0.0013014058221367808, + 0.03506084669311471 + ], + "button_min_z_position": [ + 0.11793814599514006, + -0.36630123853683466, + 0.7701510190963745 + ], + "min_active_finger_to_button": 0.14710381965056754, + "closest_active_finger": [ + -0.024351462721824646, + -0.35215750336647034, + 0.8106409907341003 + ], + "closest_active_finger_button": [ + 0.11795159429311751, + -0.3663049936294555, + 0.7761558890342712 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14230305701494217, + 0.014147490262985174, + 0.0344851016998291 + ], + "min_contact_pad_to_button": 0.021222580360570644, + "closest_contact_pad": [ + 0.11793814599514006, + -0.3687421447803514, + 0.7912327622375676 + ], + "closest_contact_pad_button": [ + 0.11793814599514006, + -0.36630123853683466, + 0.7701510190963745 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024409062435167272, + 0.021081743141193043 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e9dea6d9d90ce6f1557e4338aad22e21f91f0190f231b34cea4806eef1a4073b", + "visual_seed": 5901292479223856361, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc706fcd798c2a034584330cc57ad79fef2f33d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "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": [ + 0.3245482160856966, + 0.2064687965413578, + 1.156060934310275 + ], + "current_z": 1.156060934310275, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.29947448650635444, + "gripper_z": 1.149345165540779, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3195678741366502, + 0.2014137150111045, + 1.149345165540779 + ], + "object_minus_gripper": [ + 0.004980341949046396, + 0.0050550815302533025, + 0.006715768769496089 + ], + "object_to_gripper_xy": 0.007096312789536502, + "object_to_gripper_z": 0.006715768769496089, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3245482160856966, + 0.18237038417996496, + 1.156060934310275 + ], + "finger_b": [ + 0.31333101508360733, + 0.2064687965413578, + 1.156060934310275 + ], + "finger_midpoint": [ + 0.318939615584652, + 0.19441959036066137, + 1.156060934310275 + ], + "object_minus_finger_midpoint": [ + 0.005608600501044614, + 0.012049206180696437, + 0.0 + ], + "finger_gap": 0.02658117899305831, + "fingertip_max_gap": 0.09058894980337909, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013290589496529155, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156060934310275, + "object_top_z": 1.2018096602067878, + "finger_top_clearance": 0.0457487258965128, + "fingertip_min_top_clearance": 0.01372461776895384, + "object_projection_between_fingers": 0.8219177950187994, + "object_to_finger_line_xy": 0.010169478763886656, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047794474901689546, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7815081634410955, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26892499855723884, + -0.3143974014338375, + 0.8470187238768105 + ], + "target_position": [ + 0.26235443732414176, + -0.3139782369328247, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006583917815160472, + "xy_threshold": 0.08, + "gripper_dist": 0.1845734417949676, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470187238768105, + "min_z": 0.5730800627579278, + "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": 0.07532974809019082, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554632069006345, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15300635466144757, + "release_required_pad_clearance": 0.052773160345031725, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5894888629341731, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006817281246185303, + "max_z_decrease": 0.006817281246185303, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035085230393875, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006817281246185303, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021122454884555546, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006817281246185303, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00681730009139318, + "max_button_displacement": 0.12, + "button_start": [ + 0.11805436015129085, + -0.3702397048473358, + 0.7768088579177856 + ], + "button_final": [ + 0.11805436015129085, + -0.3702397048473358, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11810864590251813, + -0.36963154958136607, + 0.8078264484293761 + ], + "closest_button": [ + 0.11804304271936412, + -0.37024042010307306, + 0.7727465629577637 + ], + "closest_ee_minus_button": [ + 6.560318315400326e-05, + 0.0006088705217069945, + 0.03507988547161245 + ], + "button_min_z_position": [ + 0.11803833395242684, + -0.3702400326728821, + 0.7699915766716003 + ], + "min_active_finger_to_button": 0.14588554148643845, + "closest_active_finger": [ + -0.009056352078914642, + -0.4330158233642578, + 0.8109798431396484 + ], + "closest_active_finger_button": [ + 0.11805491894483562, + -0.37024107575416565, + 0.7765611410140991 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12711127102375025, + -0.06277474761009216, + 0.034418702125549316 + ], + "min_contact_pad_to_button": 0.021122454884555546, + "closest_contact_pad": [ + 0.11803833395242684, + -0.3707389664057484, + 0.7911081380744494 + ], + "closest_contact_pad_button": [ + 0.11803833395242684, + -0.3702400326728821, + 0.7699915766716003 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004989337328663024, + 0.02111656140284901 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3aeadc8f96248dc0d999dfcef0b7827f5232b71625d078197871455f17dd9404", + "visual_seed": 512427805550996223, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d4a8941481bbbe29198282392f4e36aebca10c4f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "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": [ + 0.3242033001856281, + 0.20617339829807005, + 1.1567272929677754 + ], + "current_z": 1.1567272929677754, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3001407259545651, + "gripper_z": 1.1500172674052702, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31914175100774267, + 0.20117463656165446, + 1.1500172674052702 + ], + "object_minus_gripper": [ + 0.005061549177885427, + 0.004998761736415586, + 0.006710025562505217 + ], + "object_to_gripper_xy": 0.007113852611462034, + "object_to_gripper_z": 0.006710025562505217, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3242033001856281, + 0.18197530203473464, + 1.1567272929677754 + ], + "finger_b": [ + 0.3131189472138175, + 0.20617339829807005, + 1.1567272929677754 + ], + "finger_midpoint": [ + 0.31866112369972277, + 0.19407435016640234, + 1.1567272929677754 + ], + "object_minus_finger_midpoint": [ + 0.005542176485905326, + 0.012099048131667706, + 0.0 + ], + "finger_gap": 0.026615986616568124, + "fingertip_max_gap": 0.09034899540015698, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013307993308284074, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1567272929677754, + "object_top_z": 1.2025092426293722, + "finger_top_clearance": 0.045781949661596766, + "fingertip_min_top_clearance": 0.01373458489847903, + "object_projection_between_fingers": 0.8265654750181414, + "object_to_finger_line_xy": 0.010077411147392764, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767449770007849, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8310841287889198, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26870322018547316, + -0.30827678161758504, + 0.8470196137326867 + ], + "target_position": [ + 0.26116702289679466, + -0.3084338768494116, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00753783446924564, + "xy_threshold": 0.08, + "gripper_dist": 0.18709676875736891, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196137326867, + "min_z": 0.5730800627579278, + "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": 0.0755216755024676, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560743654108553, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1549280482005802, + "release_required_pad_clearance": 0.05280371827054277, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6537166779031595, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00682443380355835, + "max_z_decrease": 0.00682443380355835, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035080849568888996, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00682443380355835, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021130091006921786, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00682443380355835, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0068244543759057525, + "max_button_displacement": 0.12, + "button_start": [ + 0.11686694622039794, + -0.36469534039497375, + 0.7768088579177856 + ], + "button_final": [ + 0.11686694622039794, + -0.36469534039497375, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11553968892229102, + -0.3648191768967681, + 0.8076379206138594 + ], + "closest_button": [ + 0.11685610562562941, + -0.3646962940692901, + 0.7725819945335388 + ], + "closest_ee_minus_button": [ + -0.0013164167033383883, + -0.00012288282747802137, + 0.0350559260803206 + ], + "button_min_z_position": [ + 0.11685018986463545, + -0.3646952211856842, + 0.7699844241142273 + ], + "min_active_finger_to_button": 0.1474125639858475, + "closest_active_finger": [ + -0.011278852820396423, + -0.4288984537124634, + 0.810839056968689 + ], + "closest_active_finger_button": [ + 0.11686807125806807, + -0.3646979928016662, + 0.7763842940330505 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1281469240784645, + -0.06420046091079717, + 0.03445476293563843 + ], + "min_contact_pad_to_button": 0.021130091006921786, + "closest_contact_pad": [ + 0.11685018986463545, + -0.36591665800979917, + 0.7910791826586026 + ], + "closest_contact_pad_button": [ + 0.11685018986463545, + -0.3646952211856842, + 0.7699844241142273 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012214368241149631, + 0.02109475854437526 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1f52bf1bf2d1c37ca4953299e6012e6de56f49d907f06ee4e0829e4c98bd65ad", + "visual_seed": 5886272838374579212, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..48aabc82cde07b63bad131ec70e306561cdf46e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "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": [ + 0.3217467297161726, + 0.20595161284468907, + 1.1588133828678988 + ], + "current_z": 1.1588133828678988, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.302226935063978, + "gripper_z": 1.1520857943950638, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3167087180746062, + 0.20089519487377006, + 1.1520857943950638 + ], + "object_minus_gripper": [ + 0.0050380116415663645, + 0.005056417970919019, + 0.0067275884728350555 + ], + "object_to_gripper_xy": 0.007137851497277806, + "object_to_gripper_z": 0.0067275884728350555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3217467297161726, + 0.1818869368281917, + 1.1588133828678988 + ], + "finger_b": [ + 0.3104306489237497, + 0.20595161284468907, + 1.1588133828678988 + ], + "finger_midpoint": [ + 0.31608868931996115, + 0.1939192748364404, + 1.1588133828678988 + ], + "object_minus_finger_midpoint": [ + 0.005658040396211428, + 0.012032338008248683, + 0.0 + ], + "finger_gap": 0.02659252369143675, + "fingertip_max_gap": 0.09047285653671058, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013296261845718376, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1588133828678988, + "object_top_z": 1.2045586297498645, + "finger_top_clearance": 0.045745246881965684, + "fingertip_min_top_clearance": 0.013723574064589706, + "object_projection_between_fingers": 0.8189189644969619, + "object_to_finger_line_xy": 0.010240390164016512, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047736428268355294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7825018384808853, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2741030813856187, + -0.314746132166584, + 0.8470193986544776 + ], + "target_position": [ + 0.2668614487868598, + -0.3149607397705666, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007244811876032003, + "xy_threshold": 0.08, + "gripper_dist": 0.1874117121154745, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193986544776, + "min_z": 0.5730800627579278, + "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": 0.07583751242001252, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08635729578320762, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15470401421191085, + "release_required_pad_clearance": 0.053178647891603814, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3796756643729642, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006696105003356934, + "max_z_decrease": 0.006696105003356934, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511049303886912, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006696105003356934, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021214017881212667, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006696105003356934, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006696130541303664, + "max_button_displacement": 0.12, + "button_start": [ + 0.12256137281656267, + -0.37122219800949097, + 0.7768088579177856 + ], + "button_final": [ + 0.12256137281656267, + -0.37122219800949097, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12230571158995007, + -0.37235226715474173, + 0.8080774817076097 + ], + "closest_button": [ + 0.12255005538463593, + -0.3712233006954193, + 0.7729859948158264 + ], + "closest_ee_minus_button": [ + -0.0002443437946858529, + -0.0011289664593224225, + 0.03509148689178332 + ], + "button_min_z_position": [ + 0.12254288047552109, + -0.3712219893932342, + 0.7701127529144287 + ], + "min_active_finger_to_button": 0.1463124299724051, + "closest_active_finger": [ + -0.018824473023414612, + -0.3559536635875702, + 0.8107057213783264 + ], + "closest_active_finger_button": [ + 0.12256169319152832, + -0.3712236881256103, + 0.7762948870658875 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14138616621494293, + 0.015270024538040106, + 0.034410834312438965 + ], + "min_contact_pad_to_button": 0.021214017881212667, + "closest_contact_pad": [ + 0.12254288047552109, + -0.3735534465368002, + 0.791198266004039 + ], + "closest_contact_pad_button": [ + 0.12254288047552109, + -0.3712219893932342, + 0.7701127529144287 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002331457143566029, + 0.021085513089610264 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d4264932feaac2b38663c8cece231b2963a0c8d918e8db0258349464bd62d1f5", + "visual_seed": 4794411244582709314, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3507000edbdd38d5447c0856c230d963887a1dd9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "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": [ + 0.3192999780955122, + 0.20613512501290976, + 1.1557435075782942 + ], + "current_z": 1.1557435075782942, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.29915700016972857, + "gripper_z": 1.1490228433626575, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3141966084002823, + 0.20105198224189785, + 1.1490228433626575 + ], + "object_minus_gripper": [ + 0.005103369695229898, + 0.005083142771011906, + 0.0067206642156367735 + ], + "object_to_gripper_xy": 0.007202966241534213, + "object_to_gripper_z": 0.0067206642156367735, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3192999780955122, + 0.18194770292850887, + 1.1557435075782942 + ], + "finger_b": [ + 0.3080518882272666, + 0.20613512501290976, + 1.1557435075782942 + ], + "finger_midpoint": [ + 0.3136759331613894, + 0.19404141397070931, + 1.1557435075782942 + ], + "object_minus_finger_midpoint": [ + 0.005624044934122774, + 0.012093711042200445, + 0.0 + ], + "finger_gap": 0.02667491167320134, + "fingertip_max_gap": 0.09039738995942306, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013337455836600658, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1557435075782942, + "object_top_z": 1.2014606337904226, + "finger_top_clearance": 0.04571712621212831, + "fingertip_min_top_clearance": 0.013715137863638493, + "object_projection_between_fingers": 0.822191886184151, + "object_to_finger_line_xy": 0.010199182685948854, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047698694979711534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6716689625949103, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2703856638188687, + -0.30869873202637044, + 0.8470197452111854 + ], + "target_position": [ + 0.2629532546245191, + -0.30865908985562446, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007432514913133658, + "xy_threshold": 0.08, + "gripper_dist": 0.1892910676693578, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197452111854, + "min_z": 0.5730800627579278, + "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": 0.07579404946323598, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0860338126543319, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15648958542796737, + "release_required_pad_clearance": 0.05301690632716595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0653153653618326, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006778240203857422, + "max_z_decrease": 0.006778240203857422, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512020677417338, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006778240203857422, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021108944882492413, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006778240203857422, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0067782634656912534, + "max_button_displacement": 0.12, + "button_start": [ + 0.11865317821502687, + -0.3649205565452575, + 0.7768088579177856 + ], + "button_final": [ + 0.11865317821502687, + -0.3649205565452575, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11797225477532161, + -0.3637112297262766, + 0.8077392391190945 + ], + "closest_button": [ + 0.11864105612039567, + -0.3649227619171142, + 0.7726463079452515 + ], + "closest_ee_minus_button": [ + -0.0006688013450740632, + 0.0012115321908375831, + 0.035092931173843045 + ], + "button_min_z_position": [ + 0.1186354383826256, + -0.364921361207962, + 0.7700306177139282 + ], + "min_active_finger_to_button": 0.146265918194246, + "closest_active_finger": [ + -0.01035270094871521, + -0.4246903359889984, + 0.8107224106788635 + ], + "closest_active_finger_button": [ + 0.11865376681089403, + -0.36492264270782465, + 0.7763876914978027 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12900646775960922, + -0.05976769328117376, + 0.03433471918106079 + ], + "min_contact_pad_to_button": 0.021108944882492413, + "closest_contact_pad": [ + 0.1186354383826256, + -0.36511656486844146, + 0.7911386600102436 + ], + "closest_contact_pad_button": [ + 0.1186354383826256, + -0.364921361207962, + 0.7700306177139282 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00019520366047948157, + 0.021108042296315355 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c3d4371cd26a9cd21b502a70b1742722bc62c25544fd98dc1f67a0fbd7277d00", + "visual_seed": 8345569316759226724, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..46a2cd4dad4d04a87a143c82d94757bd4b2d07a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "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": [ + 0.32567923472797283, + 0.2055990485531213, + 1.1562953287207554 + ], + "current_z": 1.1562953287207554, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.299708761707545, + "gripper_z": 1.1495775569497113, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32051487209322527, + 0.20070231421302664, + 1.1495775569497113 + ], + "object_minus_gripper": [ + 0.005164362634747566, + 0.004896734340094661, + 0.0067177717710440454 + ], + "object_to_gripper_xy": 0.0071167863970080705, + "object_to_gripper_z": 0.0067177717710440454, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32567923472797283, + 0.18119457350742268, + 1.1562953287207554 + ], + "finger_b": [ + 0.31492629509718595, + 0.2055990485531213, + 1.1562953287207554 + ], + "finger_midpoint": [ + 0.32030276491257936, + 0.193396811030272, + 1.1562953287207554 + ], + "object_minus_finger_midpoint": [ + 0.00537646981539347, + 0.012202237522849296, + 0.0 + ], + "finger_gap": 0.02666841039431248, + "fingertip_max_gap": 0.0903166481301019, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013334205197156238, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1562953287207554, + "object_top_z": 1.2020378819773834, + "finger_top_clearance": 0.045742553256628016, + "fingertip_min_top_clearance": 0.013722765976988438, + "object_projection_between_fingers": 0.8374226068207007, + "object_to_finger_line_xy": 0.009840100816185427, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04765832406505095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7869310672923703, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2767733412619771, + -0.31119360797458173, + 0.8470195089136314 + ], + "target_position": [ + 0.2687523287668875, + -0.31168052371295224, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008035778019747489, + "xy_threshold": 0.08, + "gripper_dist": 0.18872022550271966, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195089136314, + "min_z": 0.5730800627579278, + "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": 0.07541404649626729, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08577704024083181, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1569259085526658, + "release_required_pad_clearance": 0.05288852012041591, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8175654622307822, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007001340389251709, + "max_z_decrease": 0.007001340389251709, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509871945058082, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007001340389251709, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021164301415814046, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007001340389251709, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007001361247304584, + "max_button_displacement": 0.12, + "button_start": [ + 0.12445225566625592, + -0.3679419755935669, + 0.7768088579177856 + ], + "button_final": [ + 0.12445225566625592, + -0.3679419755935669, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12338300391749385, + -0.36875564354629475, + 0.8076662255900648 + ], + "closest_button": [ + 0.12444083392620085, + -0.36794391274452204, + 0.7725928425788879 + ], + "closest_ee_minus_button": [ + -0.001057830008707003, + -0.0008117308017727143, + 0.035073383011176906 + ], + "button_min_z_position": [ + 0.12443517148494719, + -0.367941528558731, + 0.7698075175285339 + ], + "min_active_finger_to_button": 0.1471454231168156, + "closest_active_finger": [ + -0.017882779240608215, + -0.35354864597320557, + 0.8108054399490356 + ], + "closest_active_finger_button": [ + 0.12445235252380368, + -0.36794418096542353, + 0.7763779163360596 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1423351317644119, + 0.014395534992217962, + 0.034427523612976074 + ], + "min_contact_pad_to_button": 0.021164301415814046, + "closest_contact_pad": [ + 0.12443517148494719, + -0.36987294955243705, + 0.7908835054618314 + ], + "closest_contact_pad_button": [ + 0.12443517148494719, + -0.367941528558731, + 0.7698075175285339 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019314209937060234, + 0.021075987933297458 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e3eb8f7e76252ed5416fbd26297b0b740ef0eba7db56de4d9f4697bfbf5c4b42", + "visual_seed": 1751194711828576763, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fcd9223074acb1d9cb7ea3f716a703fa06fd1ae0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "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": [ + 0.31929659891592427, + 0.2098166919577405, + 1.1572978511132705 + ], + "current_z": 1.1572978511132705, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.30071146291399453, + "gripper_z": 1.1505762595382891, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31417105931288947, + 0.2048199128831613, + 1.1505762595382891 + ], + "object_minus_gripper": [ + 0.005125539603034801, + 0.004996779074579211, + 0.006721591574981423 + ], + "object_to_gripper_xy": 0.007158139237429712, + "object_to_gripper_z": 0.006721591574981423, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31929659891592427, + 0.18557302999820005, + 1.1572978511132705 + ], + "finger_b": [ + 0.3082213597927985, + 0.2098166919577405, + 1.1572978511132705 + ], + "finger_midpoint": [ + 0.31375897935436137, + 0.1976948609779703, + 1.1572978511132705 + ], + "object_minus_finger_midpoint": [ + 0.005537619561562901, + 0.01212183097977021, + 0.0 + ], + "finger_gap": 0.026653631400671913, + "fingertip_max_gap": 0.0902957829232092, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013326815700335955, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1572978511132705, + "object_top_z": 1.2030142449250676, + "finger_top_clearance": 0.04571639381179704, + "fingertip_min_top_clearance": 0.013714918143539112, + "object_projection_between_fingers": 0.8273393193660089, + "object_to_finger_line_xy": 0.010073837571542656, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0476478914616046, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7428041778157136, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2720834464945509, + -0.31554204378126194, + 0.8470195503044659 + ], + "target_position": [ + 0.2644579472482878, + -0.3159203416419307, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007634877079963088, + "xy_threshold": 0.08, + "gripper_dist": 0.18728965594616181, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195503044659, + "min_z": 0.5730800627579278, + "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": 0.07576509272310833, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628077429490329, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1547359244438074, + "release_required_pad_clearance": 0.053140387147451645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3062408997468622, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006680130958557129, + "max_z_decrease": 0.006680130958557129, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515175382723438, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006680130958557129, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021183932814060436, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006680130958557129, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006680149881495303, + "max_button_displacement": 0.12, + "button_start": [ + 0.12015787512063976, + -0.3721818029880523, + 0.7768088579177856 + ], + "button_final": [ + 0.12015787512063976, + -0.3721818029880523, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12186869154650634, + -0.3727552158272222, + 0.808270471545613 + ], + "closest_button": [ + 0.12015268206596372, + -0.3721833527088165, + 0.7731652855873108 + ], + "closest_ee_minus_button": [ + 0.001716009480542624, + -0.0005718631184057354, + 0.035105185958302254 + ], + "button_min_z_position": [ + 0.12014200538396831, + -0.3721827864646911, + 0.7701287269592285 + ], + "min_active_finger_to_button": 0.14448849663405366, + "closest_active_finger": [ + -0.019133463501930237, + -0.35506245493888855, + 0.810687780380249 + ], + "closest_active_finger_button": [ + 0.12015789002180097, + -0.3721829950809478, + 0.776311457157135 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1392913535237312, + 0.01712054014205927, + 0.034376323223114014 + ], + "min_contact_pad_to_button": 0.021183932814060436, + "closest_contact_pad": [ + 0.12014200538396831, + -0.37402965048417897, + 0.7912319992828315 + ], + "closest_contact_pad_button": [ + 0.12014200538396831, + -0.3721827864646911, + 0.7701287269592285 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018468640194878594, + 0.021103272323602984 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 4942358866277519827, + "physical_seed": 7035053657963910604, + "layout_id": "layout_00050", + "step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "workflow_spec_digest": "7e6cbc1a890500b91db54d2ee74040cbc2d032a5599c9dbf56337654fdb4356b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "008468d8530e93bfcff364356ae8b892af6231668b695b1d7e11ec69867046fb", + "visual_seed": 6642031389605404352, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2262270067400771719, + 871272999959148026, + 8987880868648427340 + ], + "runtime_workflow_digest": "7c2bcf84d07707370b44d7a92cc1dc5259e647c2f3819aba5472a1a9727d4e2a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f05b3135461a27384bfe0bf1bf5c67434249bf2a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00050/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_htd_00050", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bbd31a46f39911c656c0eaff39f29d2db9cfdae5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d89fa833896f9cf4daa1e384f65b46ea3d6047b9035b6040d9165feea29dac78 +size 5069821 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6bba75c3aa422a11c28b783a75437a6aa26b3dd5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0af9cc098595128ea97c8ce2b77eb5a2be8f22fa1c115f221d01a902663bddae +size 5981614 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..46417d8ab1f41a227fe1e554a9d3fd6c56b6e234 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba622154e358fb452e7f8f7cc4637fce2dcf1d9d141725a74c4e10a1abcbe8c1 +size 5490831 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ecb20c49de8c44c5e9f2b19ce955b129636f1fde --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffd82287ecc3c4e70d2124264bc958fc27878e4983e61e8bcfa5bd8b17d5c9f9 +size 5173176 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..29d9dd272d10673f3df4c41f16d3a440f0cd4909 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e19010cca5d19a29feb9fc4da35a4a7f4c24fb8ce8b26508deeb4c8791d92ec +size 5499555 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..29102ba600bc00f2fe861412f0a6c6b2119eb349 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f5c359f604153fe70796c1e24c10dd1647dc4822a90f5184169cd43063fa600 +size 5988139 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..327b68cd3a7f4f0ed3378b700f201af88066f81e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:740284b010cbd3181e50a28b491042316a3427a5ddd97acf6ba70dd5091ce0bc +size 4571437 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b94c84ca2491e59b91ad8048a64beb217151d277 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6b9fd07b49cbc8a0a21ae060a489b6661f8f7f527cac126516416b560b16d8e +size 5060497 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f0a8d470d3a8e176b4c4509f095c3134886fb7a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b576ec35a6f8bb2d870f5170d6d01205ce0405bdfd516d867ba12194a520e93b +size 7087727 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..49417c3da2b5cdd4b37cd80bdbdc8dae4c38cbde --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b808a05da7066cc285206214e3035c5b8aa7afa05e4b8e52d816e42d5a3f5967 +size 5789471 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..044eb1ab7d868c209fcdc2d007d64afa4051788b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc9fac9847c4b079e8005ddd70f5742f805b569ba7b30f27fb6c46f9e6b9e47b +size 6615488 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6dda4ced9cf8295c86fcf7a4d844c7473c9664f3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7351125b039aa07c4dbf699fc02a6504d0ab60ae5f5c64a3ef5bd6ce40499bb3 +size 4857746 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..42aba9ad2a61a6e21518cddea5285307a230c18a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ceaa299cda1d77d13398b0462277c92b6ad643eb988bdcde3012dbbb227a690 +size 5533854 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cbf99802f2537c9c83555bb7e400ac3e96f615dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07dbfb5fefdaa4f48c02f8c410d1a0ef479f2fcc40354d8203280fc9b40e78c6 +size 4653697 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..71f575b992b36f72416b7f6d8478b9d73109eebd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95c56404ebe8daeb666392a6aa481a9759e45867ea1645f74b3623679b8622e0 +size 5966587 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ee79924bb2e963c415e316ae37e3b1f90dc4f75a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73f8d29193f8f30e994609f988fe7812bd64d872bbfb6323b34e735e8b4c442f +size 4254697 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3005235bdeb11f8e601040f5cac7b0ed25036750 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43edcf61881c6776efa2b5b84eec99a3c0a232cb4df7f6e3c82c76d87f0bb510 +size 4895789 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dd6295dc682d1a425695dd33bc1fbf239875c32e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78866572cdb756c5ac1e4adbbfd9c78404e2bf89693e35a170db3d5749f150cb +size 5334095 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f22b8efda4aa330db6bce6e4c232e77e6afc9002 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3be6f5736a262d66029206bf552ff57a0974daded625c8c85175217a9d1135c +size 6203501 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..33a7f4f4ab7ae610b4da1ef88d39e5dc6723336a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d88ac2fc6aef7f5a2ae8cde9c996b4dcfadedcef066a7bbc17b97887a297d863 +size 5007084 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7e545fd0c4c9162bdb0c1b4a873a64de507a6712 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd6e5c432a24d1658ac523cadc8b5b0a4e58a3bacb86ba49e8cf46ac5dfad17e +size 5927155 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b420d9b22dcab10dca69b1a273734892f6a3fb38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dea43d0d8502e08fcf51db2f530562a4fe31a6738539d2f61f84bd47182fd17f +size 4763208 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f01ca60f63778d2e0e22bf0affa132cc28df033d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b51b83984a6603302d5ad52e5d53c65a844c29579b8e122f7396463cc692ca9 +size 5052481 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6c6bdb43666b36e9ddf8a0e17e2eaeabca6c3852 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:974dce6ee378d94151f137ec5478d4120802d044d68d848258055ed3ba00b1f6 +size 5154731 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75465dfbf7e7ebf7553161baf129ee74b9cc58aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56e4518083168c0352a0fe9ae982030052d81a68f69176ea582f16edfc63151d +size 4536423 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..44860b152cb5710ea20c290e656052253a7fb56a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:311dc6a6db3a2c46d3bff5ad24b0a3bf19cbc96627483e7450e447243224b09c +size 6920701 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa576d91b064246bf7ab64850db81efe45ee2bcf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fca088d1345e4508901328174dff4572b7cc2bd05b5acaf27a470621bad843cc +size 4526899 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f1bcfdae66e5d6e15e35fe85105184de99a4884f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae5ece1a039599645ca2926fb7c4667011a761f097ffcc44373e3f0366ee91a2 +size 4572452 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..230ec76c932ad5513c4ade720c957f628dd8fab6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3478774af1d25a9a9f24092661e105af4a9c37ec89ba3ccfb7b6648d3aee1808 +size 5317078 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c40358da5152332494a6f1436fa1ed15bd2aabd3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bb1de66eedabd0210c4356f4a464b1ae00bacddb609518081c59cc0892700dd +size 5412694 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2116b95c531ad7ea66044582689657764afdf63f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d635cac4b0ea56bc2abd4d14a3cbe2fe02c219c34144daa7ea40de1d590cc29 +size 4281475 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..12b5763a64c23da67d9d3df7aad46c704fa277ea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:254599443a2258af80cc99d914e639c401d6ba822eb0aba0c2e353862cbe4679 +size 5813796 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f99f2a94e8d8a819e54fc0aeb733f7ba855cac1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9715231eaa4273ec35bc620ab9d29a3db13ad8575f76e2ca4f26f549fcbaa86f +size 5790039 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8a296118170f6e500af623882cf9bf7fe825ded4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7b351bf3b5438ddefed57d0556c03d748f869a2ff1f805a80abc898955f8cd4 +size 5078843 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..21c2e59f3555e01b7d0c65d4b33bbc0cc94d4429 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:deaa9b38aa3798ad636a788f48eef304054860435ebff68f3ae3c86a030b4f2e +size 4809058 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a3275dbfb32579ad7560bcf643acf03a5733aeab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7425f4b2afb20e5eaf27396fcfda0b243b9937a7ed283b89a27ab29fcb06b49 +size 4028358 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cab3b8f313d95f1505b772d67844a2f439a1209b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61dfe4c367f337cc0c2929b8e3a73fc4d75a30c046a2f4d7d5661f8c27716131 +size 8064058 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6337fa14e80b70a4e68636295fa66da16b16ff76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2afca85977d1036d8b4aabe472055257eeb1a2183cab7e6a36ef3b25ae4fbf04 +size 5090657 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5fcf8e53fc37982d3a6cbc35d7dbd7a1da26c5a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7b1fc3df986764be3c59bc7060d0b8c74666e55b9e9334fb5b1b1a0b0de1ca9 +size 5572654 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..468b45e3d63795f08d5aa0a3dcf7bb00a0f1aad9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:442dbb3c21dfd1585d6f0bd168ac54f91a434cd9f5c7838cf658209c26fb80c8 +size 5425714 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cba2df3dbbea44ac8f8bf3bd095fafd16b6ac2bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0092965d561cb1106011ea53b46359c5bca40caa1653e7e814c73d44517a9a9a +size 5693027 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e02dfb2f02d126427e04a9a4aaa84c7b791afdb0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ec9814b5d43c42a0626136698b2e05c9c6c86506bfcea0743be79bd5ac19442 +size 7110696 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ebe94134daacb6881b6f448b783c00845fa98e91 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08a5ad6c7b62197418e993d4db4f6ec0258bb194509d1af2fd29a0c68e1e38ce +size 4891653 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..90acae9f849b01b8b48f1cda7c2c25012bb5051d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b488310955aee4c37e110d8e896d55af140c052a249c6a61f61a469fcd8c0e1 +size 4750486 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8268dbe79d203545b0511650f1d45b84c53fd3b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c67ebb459d047ed9b9aeb1de0b4b5ca5b5533800a402396f35cc164b814d872a +size 4697091 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3be6f3e4775fa81d259e2fd6c6f380ad8c5dd195 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbc2158c6021fa61465d88818899c159c769643f4dcd4acb5ec9974755f8e78a +size 4619487 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b454c4f9c2d7dfda9e4d167978827b0a2e175173 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd4ebfe9311f37f61624d938a1844cf279b3bc0d2885ceb6a21724faa2f14504 +size 5011769 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c9b3c1ee9d602398d4f3e1433ffe74e5a02ebf8e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44f3e13153ac97b91aad7c780284d7e72d41e1f5229488ab5e1dfaa45afaa561 +size 5499436 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..742424450dce5fc73a0fbe67cef16dd81d5b4899 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5112a649572f8b225851c9ace5832c14913d47d4cac50ff4e804bd085e5a2154 +size 4688657 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1e3696022ccb001ada2764160ae27be232ebe170 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a2c10623d7834e6d71c32bb3826f9ba354691b22992ec6697feaa8a5960fd02 +size 4691222 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95e4973290118e9b179ce39fcc4d2fbdb826899e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d55dfbeef7b4bbc4d19e1a0822c2aebc13004af046f2afabe946c84dc8a49136 +size 5498568 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..34ad3bdc755ca602ccc73b08fbafd75471c51cb0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77eb9ccdd7a2dbe74bd8a8874dc12dfac4497c5d68cc0358b82fd608b4050b65 +size 4763676 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..93e9c7ed40e9d04b3764d14f7f1d78cebbe78f56 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c27d9a0c3c721089e4f3014e11f02f88e298083a4abd2d6b2820a1bdec332b1 +size 6202509 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ff3d27b636401b27ac3d188ebd3640be1279ac1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b274c1909ccf7120a034aa6cf5eeb4473eaa976ce851680e7b3044761f8680d +size 4855937 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ad7ef495b0003d049368cebf0a61b128c6c843a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c061cb35c63829147475d71bd069005fb14587230af55f962d459c3bddec72f7 +size 5912637 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..362e95ebaea2ae7353e4ec78a13309e96eb76778 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76517ca0de5a2899c049c9ccd63123941c9932f44ebee6780729a5742f1073a4 +size 5104964 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..634c03024c270c038f2d9d36d4186a8c4f976f8e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:077fb971b210e56dc219f2b4dbc401929aaf0372bdb3c5a68c725ad8aa046428 +size 5152148 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0ec17bfeff90307ce818fb427f9e60d7ab356716 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29c12b2a8bcd894228601be56d11a75202dd8120e2204e662a9dc24c51c18149 +size 5399564 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..45282f99dd3780178a566eec9178acce130ec204 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c635c8f89a36a1eb6936c14b65546e6b6b7da4b054a431864ba0e521852c118 +size 5709153 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eaf9f6bcf395795050b3e8a80aac75fe34eabebe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea26863d254809a21f24ecbcb2a8090836972c1bf46cdbc3977aae31cb1e0456 +size 4611997 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f0064bb27d9143047aab6504953d201e24e9d13c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:854a0ed1ef530b7f069510e25df2b3828261b8cd6d29d0814361c1440b5290e8 +size 4359364 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8c2e14793c209ebe6a26e7463d15a0eea9bc3d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4d823cacefb7758ea8fddd61b098c8e74d9990acd74b467bcb7e8ae35f7e874 +size 6100649 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e17383fe3ad5bbd8b9a09113833e5c34eeb7fb1e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d652d53879cc1370cffbd25a624a01e0097b39d20c778fc775d6e7c3a768b2e +size 4489042 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..812bd9ad71466c73e238f98dabb5f437c2c9d0f9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7e9870ec916e4d61bd05d4c3f9aa2607e19a33b71f29f690aeb415074e5b7d8 +size 8193345 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4115686236a354a2a0f0b6b2ce81178d52a928b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:560b70f23cb80c65333da49de99b6e071a69245ec88eb6f15c1dcabe0053cbc7 +size 6784440 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..20a19102c500dab946c89d12a279d9b73d39e11b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c666fec22c1d8431a2afa4f487f41812b5901a81ce1ecb2ef846dde49928d92 +size 5400930 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7b088033d32224a2568d1cac99390e1bcac9d849 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62878738ef703efaa275b049acd2e38b348152cc0a03b0cecc07789b518a84ca +size 4925237 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fd8e0caa5d8c4e782f78e660bed645af7985b8d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90f72c2b84be787ad40f505db5348770a8dbeb826ea44153830f47491358350b +size 4872072 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e416f2216b862a3b2f6aa12cbbc79a73dfb158e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec87f62784efcb75e9060ad48f782c57f5947c4de9b1ddee446cb0494fdd878e +size 4734241 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..157f0c8ab97dfe789b7b1b5fea7bd442f4391488 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:169821242ebd7a3fd6208e53fb9000ca47fad63859f330dd931c39d2dd3f91ba +size 6889399 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4f4e5e7110c7b066990f3e033a5d9508303cef1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1302fc499c7a7e870607b25cadb5a78e28a91e70477fd93ad4a35be154ec949 +size 6728938 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..27e5bf7519d917c9668e23536a7c9e306c14539c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:183c637a6ca272a0a044ad644cd3c956f54b9c1fe23e17a133ebac3f937cc948 +size 5823725 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf91bf412f78612a76343eba15b29512622cf4be --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f002fb04fb812a38e0f936f786c2de937919a1ad82f2b07cd39905dba9fef7f6 +size 5649912 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e0ef9844746a7cc9edfca9572662bb30c2e521d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85658fb270a08b4019ac3342de0be73527ee460b35dd7436e5e72e58426fd981 +size 4816768 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf66a60e80ed021c84a3b260a598715a3f3eace4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40734252422c54082e59ef82547f48b4ba0972d5468ce15076b9c9be3ee94eec +size 4595520 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..912cbff4a9fbf8587359d02187bcca6f801ec04f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7ae33a4e1596269c4e66ae49157ac346f5ebdc990e134345b197e3ea0d47252 +size 5585450 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7c2f710a7552d2ed09e56a612dc744a3f0e2ecf8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:306eb7c0de2313bfc1df9ac4bab4a8b78512895bcfb93d736b94f7bbdb52770b +size 6396079 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6aac1d02962aac761402f5555bbb153026de2cd8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab1f232c73e6817e562cde3656e79062d3b22ee791aa911bbd44d326aa96aaee +size 5592779 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa63ca23dbddcbe7074a7db746a70cc9193806af --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d73e39fbc2b88dca392cde3e975c00a928fd6e68ed283b6220cb147accdc01d +size 4131474 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7445eab957619c0a3354a43b41ec467cbe2f604d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b007634f6b890c83338f58361301aa904639987d8f06fc8bb6797d60bfd85507 +size 5187009 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..00ff9d4c10dfde6cb61ca486cad2a7ce0c205ef4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab9b786036ee3b43e48f0a37525f3604bcc6857c88ade9324e60a5fbdacfb77a +size 4691106 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..76b0efc083f5951834d753125d97906194a3e3f5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:124f067c2d0c3b3772061f227d295b5436c98e15a080eb36e766534586ed4b87 +size 5329281 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..399e82431e0c9621a24c8f051659c3006bd35d2c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1773025e990748309b444b9ebc510cb508aa5cd2035171fbfc78bd26f00f4a2 +size 4995792 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..70dd2f4a28cf08a55fc63a1c1fff14c690a45d69 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a199543aa723d5ad81c4bdc731c153a72fe93960d637a9d3ff4095c4e06f2ba7 +size 4730905 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..89f514ea26d08c9fe3afd4b48331700423e4000d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e40550077c7bea4691407979741f566eee46b2c016c1f6aacf2cb275d3d7219f +size 4779469 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bc1b33005c428af51bb91e9040a4f5dae53dda9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ddbdf0c8835082afa28db5819e6fe47f70240937606cf0b2c30f61fce75ef19 +size 6355864 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dd6fad5d3e7e6aba3317af705bc80f99f69df1b1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40db54b484b6bef906a5f504201b7641661ac606006313c334fb676624a22b9d +size 5312426 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..193f3d8e4ebff4da13e8a888b028850668bf513f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c76ffb9e856eb21fdaa54b4b0c3b1afd0127e09c1f8b7618e82322c671967b0 +size 5262557 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fcfb1b926e383a74bf033a5a897a34e44b2f05ad --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8025f837552e3926cf99a717cd68c54490f135db2cdc9180cd54dbb3c4b8e209 +size 6471910 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..250925e713d125a3ee7b986cfaf70edf492c1b03 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:997b86b9203e907630a80db1ce2c439f5aee40e23d41d1d617d9b9209cf2ae8b +size 6595615 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b392386fdd5b34cc15a1613dc97f378ec3fe83bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b4ea59b8739883b24f2c2b45a494848fa7713fa49ee8346a6380b9afd15cded +size 4891744 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..77557f11d1649c05bf70139d10cea90c8023bcdc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:693164a260438ed579d7ab507670a004c3b3e2877e6eda9ceaab96d0ca3b71f7 +size 4644509 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c12ceb94964473978d94d6d532b4e39d3cd5741e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2246c7ece2882072876d363cc7cd862c8a0ef98267bd12af0a45cd1d3f00e4d8 +size 5318986 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..50a03d6db4a6e8e1834b712fc78814d8b2548fce --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d201ee7da7fb7169fc23b3fddbf281d297d57b96e928b563524e1d0f52066c3 +size 4419211 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..074fa62a59c4a0b74a228a54aaa0c6b1b9b64c21 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab5ad3c6fc91d69ce963bcfa1cd8fd719cfad941109ffb02d9a3242040ad79c5 +size 5208184 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b21ae14ea314462c873c55a7d674efec96e9708e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:860e03bbbf43e3197fc59af34b857781ab69c144bebecb5b1fcde44ff28d265a +size 4937976 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..974449d8952f3aaf198af0da3f1fc79331bedefa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eacc6115c7782703f14f96a6bdeb3821734036283e4e96cb65b3b04d56623dbd +size 5452716 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c28ef6d37b790f3b72ee9a8c64e142db676bf003 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8b28cd91e12ea3a9391e7bbc9aaf93e94048e9cb97c5c1ecf499e7ba13afb30 +size 5149701 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..87333a84cc172f4eba982c859bfe01ee607f980e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:706fd799b406ed235700ba697e7b3c67e691e02fcc10beb075edd76ffb5fba7a +size 5963606 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d5f4abd105273ba9762d85fdb4a06ae648a82055 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d5293471582baac8cc470a30a346fc0d9f2886124187836d157090c133b9bcb +size 4126887 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6769515154af86b8f0eb9a82c12247e00b6a7e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1039,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1044,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1049,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1046,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1047,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1003,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1017,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1022,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1016,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1045,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1041,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1040,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1040,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1036,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1042,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1025,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1043,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":998,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1024,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1041,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1042,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1027,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1033,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1043,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1042,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1042,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1012,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1038,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1027,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1043,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1021,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1038,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1044,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1036,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1043,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1041,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1046,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1042,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1039,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1041,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1003,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1045,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1040,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1047,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1041,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1043,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1043,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1017,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1044,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1009,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1044,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1044,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1043,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1040,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1046,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1042,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1004,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1037,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1026,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1008,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1019,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1041,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1028,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1039,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1035,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1011,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1012,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":995,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1040,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1046,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1034,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1043,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1024,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1009,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1041,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1053,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1030,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1042,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1038,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1005,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1041,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1045,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1047,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1043,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1045,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1046,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1022,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1017,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1041,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1044,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1047,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1003,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1046,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1004,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1035,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1008,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1017,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1047,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":998,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1044,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19bac0a437819117e44038ef209f1a46ae74e637 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-04T15:24:29","dimensions":{"distractor":{"count":20,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[-0.27410246036728947,-1.193692412606981,0.71338606911949],"aabb_xy":[[-0.35410245834807447,-1.2012939535688327],[-0.1941024623865044,-1.1860908716451288]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.2333480212254394,1.6064509231097026,0.71338606911949],"aabb_xy":[[0.22523436655206228,1.5983451066556735],[0.24146167589881648,1.6145567395637317]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[0.11688387246081355,-1.8802902135421184,0.71338606911949],"aabb_xy":[[0.06189066112367679,-1.9352902138809125],[0.1718770837979503,-1.8252902132033253]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[0.2087940914700439,-2.280251154083473,0.71338606911949],"aabb_xy":[[0.2015117750933802,-2.370251157692981],[0.2160764078467075,-2.190251150473963]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[-0.24016463625316486,-0.8225024030672645,0.71338606911949],"aabb_xy":[[-0.2653854731130044,-0.8477261539201512],[-0.21494379939332514,-0.7972786522143777]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[0.26954507782999493,-0.5847460263109512,0.71338606911949],"aabb_xy":[[0.26408713219297486,-0.6647460296186102],[0.275003023467015,-0.504746023003292]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[-0.3650485138711641,0.6129382847055127,0.71338606911949],"aabb_xy":[[-0.3995109918842518,0.6062746075225898],[-0.3305860358580763,0.6196019618884354]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[0.26143972150309414,-1.0326857016749804,0.71338606911949],"aabb_xy":[[0.23760350386248913,-1.122685702483467],[0.28527593914369925,-0.9426857008664942]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.5805941922043928,-0.117999051081084,0.71338606911949],"aabb_xy":[[-0.6445941885999659,-0.18196233949981755],[-0.5165941958088197,-0.05403576266235044]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[-0.05859241963657891,-1.901402726980853,0.71338606911949],"aabb_xy":[[-0.09318350249062411,-1.9664027272658842],[-0.024001336782533685,-1.836402726695822]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[-0.5536599216402684,1.136540117434337,0.71338606911949],"aabb_xy":[[-0.5599720211766068,1.130773178181118],[-0.5473478221039301,1.142307056687556]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.6169511583817551,0.50860732981308,0.71338606911949],"aabb_xy":[[0.5619774363454222,0.4536073302488468],[0.671924880418088,0.5636073293773132]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[-0.34561320182358835,-1.0593008729585542,0.71338606911949],"aabb_xy":[[-0.40961319893569403,-1.1083332427529649],[-0.28161320471148266,-1.0102685031641436]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[-0.20197747973621383,1.1478603581560392,0.71338606911949],"aabb_xy":[[-0.20640810909105406,1.1424119864213567],[-0.1975468503813737,1.1533087298907216]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.17261707162973683,-0.29574618114906803,0.71338606911949],"aabb_xy":[[-0.2076170698998567,-0.30282030884405614],[-0.1376170733596169,-0.2886720534540798]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.10161709757672799,-0.9863060226614022,0.71338606911949],"aabb_xy":[[0.046491891947137216,-1.0463060241026891],[0.15674230320631877,-0.926306021220115]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.39891815274374,-2.2294573617331848,0.71338606911949],"aabb_xy":[[-0.44016696377365466,-2.284457361245402],[-0.3576693417138252,-2.1744573622209673]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[-0.47358259889535825,1.697785453161805,0.71338606911949],"aabb_xy":[[-0.4887547681769916,1.682616596233602],[-0.4584104296137249,1.7129543100900086]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[0.4523536123743255,-2.10010510131741,0.71338606911949],"aabb_xy":[[0.3883536119967918,-2.1498503681682224],[0.5163536127518591,-2.050359834466598]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[-0.15961206247567816,0.6753105175333713,0.71338606911949],"aabb_xy":[[-0.20478338032384716,0.6113105203888329],[-0.1144407446275092,0.7393105146779098]]}],"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":0.6974448747274631,"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/8248.png","name":"8248"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8248.png","name":"8248"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1458.png","name":"1458"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1193.png","name":"1193"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7476.png","name":"7476"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":635.5289015501689,"rotation_z_degrees":303.4002849830917,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011671554568349124,-0.0065706137503016,0.006443042667629979]},{"name":"camera_2","offset_m":[-0.0163104264862833,-0.008893766865601687,0.017601970829728194]},{"name":"camera_3","offset_m":[0.019461385819620782,0.00559306685504346,0.016365056944119067]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000685212383170482,0.0014934410612856643,-0.0017466517099660873],"end_effector_yaw_offset_degrees":-0.9165072839926973},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000466197981287121,0.00036501758048572116,-0.0009838459202279424],"end_effector_yaw_offset_degrees":0.023635419964856297},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00041457248504021696,0.0019431413116693993,0.0010109340124478602],"end_effector_yaw_offset_degrees":-0.9986710654926862}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00035847146136052093,-0.0026697525829679583],"position_m":[0.2969584714613605,0.362730247417032,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004324064093723451,-0.0030671374590912947],"position_m":[0.27502406409372343,-0.35876713745909133,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002874529089182537,-0.0049943425707796646],"position_m":[0.3408254709108175,0.2601056574292203,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001019071341119661,0.0036354262630065035],"position_m":[0.31401907134111967,0.0669354262630065,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"01b303ef8e3bd5de739887ca17ddfb695415d9ae0b821fd9ca02277bda99722e","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0000.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8248/tex_ceiling_textures_7476/tex_floor_textures_9281/tex_table_textures_1458/tex_wall_textures_1193","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2775674618503543261,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2775674618503543261,"visual_seed":2775674618503543261,"scene_id":"lab_003","finished_at":"2026-09-04T15:27:32"} +{"episode_id":"ep_000001","started_at":"2026-09-04T15:27:36","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[-0.002218798894672136,-1.822292664136456,0.71338606911949],"aabb_xy":[[-0.062218799490688315,-1.8771051366816798],[0.05778120170134404,-1.7674801915912328]]},{"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_1","position":[-0.04416986948224655,-2.571984089960941,0.71338606911949],"aabb_xy":[[-0.05286783177296184,-2.5841090642684157],[-0.03547190719153125,-2.5598591156534662]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[0.08821040940435465,0.6959674478098417,0.71338606911949],"aabb_xy":[[0.08092809302769098,0.6059674442003326],[0.09549272578101829,0.7859674514193505]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[-0.40454000073017626,1.5188803198372907,0.71338606911949],"aabb_xy":[[-0.41258336065613144,1.4338803187419242],[-0.3964966408042211,1.603880320932657]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[-0.3107971414139759,-0.14769469676691793,0.71338606911949],"aabb_xy":[[-0.36579713961572075,-0.18821666339335552],[-0.25579714321223107,-0.10717273014048036]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[0.489693029616993,-0.07547390161875489,0.71338606911949],"aabb_xy":[[0.4822805740756046,-0.08132511204038284],[0.49710548515838154,-0.06962269119712694]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.6602100575373346,0.6625774967176508,0.71338606911949],"aabb_xy":[[0.5962100583675647,0.6158108095986883],[0.7242100567071046,0.7093441838366132]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.018055830198717926,-1.2824984031259223,0.71338606911949],"aabb_xy":[[-0.018439990428560815,-1.31898234555268],[0.05455165082599667,-1.2460144606991648]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.5797020380337796,0.5521007414176577,0.71338606911949],"aabb_xy":[[0.4897020383106054,0.5290273888824778],[0.6697020377569537,0.5751740939528375]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[0.306407004616323,1.169511807068373,0.71338606911949],"aabb_xy":[[0.25140700499457713,1.1145281142809003],[0.3614070042380688,1.2244954998558457]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[0.2610148088637382,-1.5708418161356668,0.71338606911949],"aabb_xy":[[0.2407305061403394,-1.5911244412783754],[0.2812991115871369,-1.5505591909929577]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[0.32638266437801144,-1.643120792435695,0.71338606911949],"aabb_xy":[[0.32224680804531125,-1.680620791880052],[0.33051852071071164,-1.605620792991338]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[0.5114471615657554,1.6691898008988004,0.71338606911949],"aabb_xy":[[0.4564539502286187,1.6141898005600068],[0.5664403729028922,1.724189801237594]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.2998949854991141,-0.8092351842876726,0.71338606911949],"aabb_xy":[[-0.33333516069513364,-0.8426788101186026],[-0.2664548103030944,-0.7757915584567424]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.4832564500383687,-1.1059489014042192,0.71338606911949],"aabb_xy":[[0.4752629602430867,-1.113947033344695],[0.49124993983365073,-1.0979507694637438]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.31202656049901645,0.7350403919453883,0.71338606911949],"aabb_xy":[[0.30066482584573023,0.7236719255391001],[0.32338829515230255,0.7464088583516763]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.44229528302143795,0.7025158648415619,0.71338606911949],"aabb_xy":[[-0.4597952164554213,0.6850158649213274],[-0.4247953495874546,0.7200158647617965]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.1010558602735695,-0.6833712841832877,0.71338606911949],"aabb_xy":[[0.09735259894443062,-0.6870733024920055],[0.10475912160270835,-0.6796692658745698]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.2781336970580012,1.4119346539222066,0.71338606911949],"aabb_xy":[[-0.31259617507108894,1.4052709767392837],[-0.2436712190449134,1.4185983311051291]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.4947539509753916,-0.1888803179442471,0.71338606911949],"aabb_xy":[[-0.49886990108746415,-0.19299587297709256],[-0.4906380008633188,-0.18476476291140156]]}],"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":0.6946224179495752,"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/4301.png","name":"4301"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4301.png","name":"4301"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9573.png","name":"9573"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5188.png","name":"5188"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/126.png","name":"126"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2934.png","name":"2934"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":640.883298574924,"rotation_z_degrees":323.9665865690233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005135217207124856,0.013663703653614603,-0.01767926451896586]},{"name":"camera_2","offset_m":[0.019807558861848904,0.005353639551907152,-0.008082429787480886]},{"name":"camera_3","offset_m":[0.009043154831960266,-0.018155738218740947,-0.015475963887029761]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[1.5183502677843571e-05,0.0019522135978219148,0.0011070454896011796],"end_effector_yaw_offset_degrees":0.8894232902062975},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00040794248515816376,-0.0019723629733985463,0.0008846848733793803],"end_effector_yaw_offset_degrees":0.4184222678194034},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00039166282871102263,-0.0006784131059775248,0.0019395894466476575],"end_effector_yaw_offset_degrees":0.0012109706540732734}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003937767129208121,-0.002032664394479534],"position_m":[0.3005377671292081,0.3633673356055205,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003330003082547029,0.0007733118057990426],"position_m":[0.27403000308254705,-0.354926688194201,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0025502556904026885,0.0008920550300654181],"position_m":[0.3411497443095973,0.2659920550300654,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016682630309004572,-0.0012549541394695518],"position_m":[0.31466826303090045,0.062045045860530446,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bed4bb6fce9e9205ac43bd85a22d1c0c35030b814c5032ea8381d009961f7111","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4301/tex_ceiling_textures_2934/tex_floor_textures_126/tex_table_textures_9573/tex_wall_textures_5188","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2206491629388438543,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2206491629388438543,"visual_seed":2206491629388438543,"scene_id":"lab_003","finished_at":"2026-09-04T15:30:58"} +{"episode_id":"ep_000002","started_at":"2026-09-04T15:31:01","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[0.34081637177942326,1.6689204867963077,0.71338606911949],"aabb_xy":[[0.27681637449377455,1.6274137678434637],[0.40481636906507185,1.7104272057491516]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[0.5084466770631766,-2.4423243798372773,0.71338606911949],"aabb_xy":[[0.4584466757022894,-2.492302284412693],[0.5584466784240638,-2.3923464752618617]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[0.7053550622377214,0.13258097538841884,0.71338606911949],"aabb_xy":[[0.7004557699311579,0.10490405608585007],[0.7102543545442849,0.1602578946909876]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.21539750383886125,-1.0204157639601592,0.71338606911949],"aabb_xy":[[0.20898369019567628,-1.0268255842078273],[0.22181131748204616,-1.0140059437124906]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.14778468363838426,1.4797556602729034,0.71338606911949],"aabb_xy":[[-0.20275840567471715,1.4247556607086704],[-0.09281096160205138,1.5347556598371368]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.23850450082207908,-2.365339918083485,0.71338606911949],"aabb_xy":[[-0.27600449924547943,-2.378504132051315],[-0.20100450239867873,-2.3521757041156537]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[0.47310331447288045,0.49980494737405845,0.71338606911949],"aabb_xy":[[0.46117058011105233,0.4874227945661991],[0.48503604883470847,0.5121871001819178]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.062255119890894495,0.8871878766386638,0.71338606911949],"aabb_xy":[[-0.11235258387196811,0.823187876128852],[-0.012157655909820875,0.9511878771484756]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[0.2356989656516828,-0.7000926954695927,0.71338606911949],"aabb_xy":[[0.21323419568027766,-0.7225926963484532],[0.2581637356230879,-0.6775926945907322]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[0.15021659547462862,-0.8520637032930349,0.71338606911949],"aabb_xy":[[0.08021659334319906,-0.8748256689187305],[0.22021659760605813,-0.8293017376673392]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.403264934624315,0.21962959738845678,0.71338606911949],"aabb_xy":[[-0.42084323681326186,0.20205510781435185],[-0.38568663243536816,0.23720408696256165]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.4157662867478374,-2.1846594230253307,0.71338606911949],"aabb_xy":[[-0.4532662882634691,-2.1958861960414757],[-0.3782662852322057,-2.1734326500091856]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[0.6726712205477317,-1.873554092393718,0.71338606911949],"aabb_xy":[[0.6353399440224891,-1.9082071471885704],[0.7100024970729742,-1.838901037598866]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.21345195254967486,0.7849588088807766,0.71338606911949],"aabb_xy":[[0.20523740743399083,0.7762822185831351],[0.22166649766535879,0.7936353991784177]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.23157302867253166,1.610904799069838,0.71338606911949],"aabb_xy":[[-0.24907302891758104,1.593405011230271],[-0.21407302842748227,1.6284045869094046]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[0.020470976995186962,1.419854849927281,0.71338606911949],"aabb_xy":[[-0.004749859864652708,1.3946310990743938],[0.04569181385502662,1.4450786007801673]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[-0.56144573795987,0.9095381261033362,0.71338606911949],"aabb_xy":[[-0.6214457378064367,0.8527195039102975],[-0.5014457381133032,0.9663567482963749]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[-0.47759907281987557,1.7489666868028375,0.71338606911949],"aabb_xy":[[-0.4855930613975789,1.7409666067077472],[-0.4696050842421721,1.7569667668979279]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.20210241030969844,-1.1223038144621054,0.71338606911949],"aabb_xy":[[-0.25208121882001433,-1.1723038144678242],[-0.15212360179938256,-1.0723038144563866]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[-0.49788077456277813,-0.010204471109013014,0.71338606911949],"aabb_xy":[[-0.533509930462738,-0.04583713786586596],[-0.46225161866281844,0.025428195647839935]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[0.4701566785472904,-0.3547035072825171,0.71338606911949],"aabb_xy":[[0.41015667690436847,-0.4067036565744613],[0.5301566801902122,-0.3027033579905729]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[0.2474765394620072,-1.9059286583083042,0.71338606911949],"aabb_xy":[[0.18347653778400988,-1.9544460497876182],[0.31147654114000456,-1.8574112668289897]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[-0.20978874904507316,1.1304754419258325,0.71338606911949],"aabb_xy":[[-0.25978874769099436,1.08055589826637],[-0.159788750399152,1.1803949855852949]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[0.12321935956447172,0.6756591575491941,0.71338606911949],"aabb_xy":[[0.0732193586139389,0.6441100105456727],[0.17321936051500453,0.7072083045527155]]},{"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_24","position":[-0.4240301133871499,-1.5896106224477808,0.71338606911949],"aabb_xy":[[-0.43332373162430043,-1.6271106209359147],[-0.4147364951499993,-1.552110623959647]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[0.4019160797056476,-1.6241940250743754,0.71338606911949],"aabb_xy":[[0.3818576680924073,-1.6442591119835328],[0.42197449131888787,-1.6041289381652175]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[0.6022346135263907,0.9551654207745779,0.71338606911949],"aabb_xy":[[0.537234613492088,0.9084647440942507],[0.6672346135606935,1.0018660974549052]]}],"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":0.6949929134312737,"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/7006.png","name":"7006"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7006.png","name":"7006"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1348.png","name":"1348"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9349.png","name":"9349"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9732.png","name":"9732"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9531.png","name":"9531"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":603.9647283695817,"rotation_z_degrees":224.22872495223615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015942503221859396,-0.010502342937112394,-0.0001946919728665862]},{"name":"camera_2","offset_m":[0.01308441191125526,-0.007160641994464419,0.0017133587826447944]},{"name":"camera_3","offset_m":[-0.00988900136620479,-0.007350289829855026,-0.01720481532115683]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012509965844436188,0.0006497386574701083,-0.001654584511880533],"end_effector_yaw_offset_degrees":-0.5783515425742369},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015709499142075823,-0.0017687240854439312,0.0009346738491036819],"end_effector_yaw_offset_degrees":-0.968729044954955},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009253617438721717,0.0007189194636867979,-0.0007406176082061502],"end_effector_yaw_offset_degrees":0.815878673064784}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008850730496013414,0.0007728451154495773],"position_m":[0.29571492695039864,0.36617284511544956,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005368078401353071,-0.004599205019880285],"position_m":[0.2712368078401353,-0.3602992050198803,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0004463807942730255,-0.0015372715538166048],"position_m":[0.343253619205727,0.2635627284461834,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015568387177998843,0.002546270741353194],"position_m":[0.3145568387177999,0.06584627074135319,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"33a5dbc61ebd6fa8f5b2dd2dff86f5da6c87a973e9df19ac33f6145b22271b33","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7006/tex_ceiling_textures_9531/tex_floor_textures_9732/tex_table_textures_1348/tex_wall_textures_9349","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4139598497158875057,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4139598497158875057,"visual_seed":4139598497158875057,"scene_id":"lab_003","finished_at":"2026-09-04T15:34:25"} +{"episode_id":"ep_000003","started_at":"2026-09-04T15:34:30","dimensions":{"distractor":{"count":33,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.07486413964587968,-0.2016522614813656,0.71338606911949],"aabb_xy":[[-0.08643312039281625,-0.22665226159829732],[-0.0632951588989431,-0.1766522613644339]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.49770459915488297,1.2899294585708487,0.71338606911949],"aabb_xy":[[0.45242598427373365,1.2259294592226648],[0.5429832140360322,1.3539294579190322]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.40777166774259693,0.09323550162365235,0.71338606911949],"aabb_xy":[[-0.45777166940409164,0.04323705936794963],[-0.3577716660811021,0.14323394387935504]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.5947374597092321,-1.3086999940531068,0.71338606911949],"aabb_xy":[[0.5597374613985365,-1.3164150089766524],[0.6297374580199274,-1.3009849791295611]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[-0.312202082743265,-0.1463863441857547,0.71338606911949],"aabb_xy":[[-0.34334900158684806,-0.21638634287256187],[-0.2810551638996818,-0.07638634549894752]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.4328142743725793,0.3889455617082551,0.71338606911949],"aabb_xy":[[-0.4591030986930199,0.3626741280536039],[-0.4065254500521386,0.41521699536290635]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[0.5266525976689878,0.5355820882744529,0.71338606911949],"aabb_xy":[[0.4766795321364723,0.4855820884619201],[0.5766256632015032,0.5855820880869859]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.6324384511078055,-0.7776430302694293,0.71338606911949],"aabb_xy":[[-0.6774310378262558,-0.8226430295438779],[-0.587445864389355,-0.7326430309949804]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.6651318526064118,0.0943564290415635,0.71338606911949],"aabb_xy":[[0.6450734409931715,0.07429134213240597],[0.6851902642196521,0.11442151595072104]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[0.18560006559815279,0.6417743944344281,0.71338606911949],"aabb_xy":[[0.14810006702253198,0.62903809877087],[0.2231000641737736,0.6545106900979859]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[0.6891071814786551,0.22198312459781055,0.71338606911949],"aabb_xy":[[0.6818459339082477,0.20919611433430108],[0.6963684290490626,0.23477013486132003]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.3736325400571334,0.87679481495387,0.71338606911949],"aabb_xy":[[-0.3800463537003183,0.8703849947062017],[-0.3672187264139484,0.8832046352015384]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.16596425593958997,-2.19452214546085,0.71338606911949],"aabb_xy":[[0.16112066117836,-2.1993737979398347],[0.17080785070081994,-2.1896704929818664]]},{"name":"lh_cell_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_13","position":[0.034410545882486376,-1.3192329533568954,0.71338606911949],"aabb_xy":[[-0.029589454820982977,-1.3652513358298164],[0.09841054658595574,-1.2732145708839744]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.18979126699203874,0.8425774225799607,0.71338606911949],"aabb_xy":[[-0.2697912649728237,0.8349758816181087],[-0.10979126901125365,0.8501789635418125]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[0.38887191182899516,-1.9430253561080897,0.71338606911949],"aabb_xy":[[0.32487191543342203,-2.0069886445268232],[0.4528719082245682,-1.8790620676893561]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[-0.4587999753670703,-1.8253687507141336,0.71338606911949],"aabb_xy":[[-0.46970575145463295,-1.905368747112963],[-0.4478941992795075,-1.7453687543153047]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[0.2946232035940104,-1.5784914344643346,0.71338606911949],"aabb_xy":[[0.2777124711576686,-1.5919636400569486],[0.3115339360303522,-1.5650192288717197]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[0.5140772854237241,-0.8162496368240224,0.71338606911949],"aabb_xy":[[0.4340772880201306,-0.896242208022205],[0.5940772828273174,-0.7362570656258394]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[-0.25607514719056335,1.7093401125589716,0.71338606911949],"aabb_xy":[[-0.2970930905769342,1.659340111928014],[-0.21505720380419246,1.7593401131899287]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.2385260490177168,-0.8046123955733564,0.71338606911949],"aabb_xy":[[0.20102604852035855,-0.8085810791214747],[0.27602604951507503,-0.8006437120252379]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[-0.2065141406041608,-0.8748301688199818,0.71338606911949],"aabb_xy":[[-0.24151413973411642,-0.8805753898956459],[-0.1715141414742051,-0.8690849477443177]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[0.011855176098352072,-1.4469719614227732,0.71338606911949],"aabb_xy":[[-0.010644824413688525,-1.4694638197881715],[0.03435517661039267,-1.4244801030573748]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[-0.3264559310941055,1.1422589550401678,0.71338606911949],"aabb_xy":[[-0.37645076402204714,1.0922589561449243],[-0.27646109816616393,1.1922589539354114]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_24","position":[-0.038700013398620614,-0.6646077725989363,0.71338606911949],"aabb_xy":[[-0.0446665523393564,-0.6705689172583003],[-0.032733474457884826,-0.6586466279395722]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[-0.5243921545824921,-0.4158684752059978,0.71338606911949],"aabb_xy":[[-0.5588546325955798,-0.42253215238892056],[-0.4899296765694042,-0.4092047980230749]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[-0.11579528714592335,-2.0874610467802803,0.71338606911949],"aabb_xy":[[-0.17979528425802904,-2.1364934165746914],[-0.05179529003381765,-2.03842867698587]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_27","position":[0.036067057987703044,0.9186132636811863,0.71338606911949],"aabb_xy":[[-0.04393294066918296,0.9041084047569238],[0.11606705664458905,0.9331181226054494]]},{"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_28","position":[-0.6573749517198989,1.7471047616117938,0.71338606911949],"aabb_xy":[[-0.6660729140106142,1.7349797873043193],[-0.6486769894291836,1.7592297359192688]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_29","position":[-0.5105023837971072,1.547922531867552,0.71338606911949],"aabb_xy":[[-0.5280806859860541,1.5303480422934472],[-0.49292408160816037,1.5654970214416573]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_30","position":[-0.3502266670122706,-0.4825043144285832,0.71338606911949],"aabb_xy":[[-0.3575089833889341,-0.572504318038092],[-0.3429443506356068,-0.3925043108190741]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_31","position":[0.4266418071977627,1.0100819288392233,0.71338606911949],"aabb_xy":[[0.35664180559548314,0.9966491356375657],[0.4966418088000421,1.023514722040881]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_32","position":[-0.569668738799956,-1.0180200362152394,0.71338606911949],"aabb_xy":[[-0.5776627273776594,-1.0260201163103295],[-0.5616747502222527,-1.0100199561201488]]}],"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":0.695552982375225,"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/4113.png","name":"4113"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4113.png","name":"4113"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5170.png","name":"5170"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6116.png","name":"6116"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5168.png","name":"5168"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5241.png","name":"5241"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":797.9017866368692,"rotation_z_degrees":4.7425136532537016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00796565534891654,-0.01156094715299873,-0.011669559787489967]},{"name":"camera_2","offset_m":[0.016063746810664702,-0.015562859041276895,-0.008456571763804469]},{"name":"camera_3","offset_m":[0.019933856579342057,0.008069644691795889,-0.007154112733345999]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000975568817012912,-0.001892097418129851,0.0018108235487535635],"end_effector_yaw_offset_degrees":-0.6235197155509602},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005570461586230637,-0.001705794560701945,0.00051294217012253],"end_effector_yaw_offset_degrees":0.6454452271645379},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017774271833399427,-0.0005059606360493531,-0.0006285738343472977],"end_effector_yaw_offset_degrees":0.06430381450888434}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002395254186734013,-0.0018194077962006483],"position_m":[0.298995254186734,0.36358059220379935,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003974718141617937,3.686863928535275e-05],"position_m":[0.2746747181416179,-0.35566313136071465,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0020099378971178096,0.003793789189090335],"position_m":[0.3457099378971178,0.26889378918909035,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033106408420713,-0.0012388138062612232],"position_m":[0.3096893591579287,0.06206118619373877,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b12436314fac2012a692c83cac2384369223f0bb8862708b2426b1f065015bae","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4113/tex_ceiling_textures_5241/tex_floor_textures_5168/tex_table_textures_5170/tex_wall_textures_6116","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8996769243205679521,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8996769243205679521,"visual_seed":8996769243205679521,"scene_id":"lab_003","finished_at":"2026-09-04T15:37:55"} +{"episode_id":"ep_000004","started_at":"2026-09-04T15:37:58","dimensions":{"distractor":{"count":28,"items":[{"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_0","position":[-0.23208650997957686,0.360552259625432,0.71338606911949],"aabb_xy":[[-0.24995561773403233,0.3467193516482211],[-0.21421740222512134,0.37438516760264295]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.2585008163449237,-0.8064543742743118,0.71338606911949],"aabb_xy":[[-0.2665441762708789,-0.8914543753696781],[-0.25045745641896855,-0.7214543731789452]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.6205759521778658,0.9153021508427925,0.71338606911949],"aabb_xy":[[0.6125396174765809,0.9072640315383758],[0.6286122868791506,0.9233402701472093]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[0.5005138584490414,-2.043911236819871,0.71338606911949],"aabb_xy":[[0.43551385989196856,-2.073663770233754],[0.5655138570061142,-2.0141587034059887]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.10644937880984318,0.8440125331748725,0.71338606911949],"aabb_xy":[[-0.17044937592194886,0.7949801633804618],[-0.04244938169773749,0.8930449029692831]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[-0.6199905502749294,1.227004866523143,0.71338606911949],"aabb_xy":[[-0.6305580299330285,1.2164598364101344],[-0.6094230706168304,1.2375498966361516]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.550942035663552,-2.154416332619707,0.71338606911949],"aabb_xy":[[-0.5618478117511148,-2.2344163290185364],[-0.5400362595759893,-2.074416336220878]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.4258580672579925,-1.1802727614853616,0.71338606911949],"aabb_xy":[[-0.4592982424540121,-1.2137163873162915],[-0.39241789206197286,-1.1468291356544313]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.27253383681409127,1.0141655193070225,0.71338606911949],"aabb_xy":[[-0.2950329725403182,0.9916655185287595],[-0.25003470108786424,1.0366655200852855]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[0.10780743481252242,-1.2915114132017247,0.71338606911949],"aabb_xy":[[0.08869512745454357,-1.3106461920789667],[0.12691974217050128,-1.2723766343244827]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[0.6235628463060487,-0.3945454998958433,0.71338606911949],"aabb_xy":[[0.5585628484244011,-0.44566916360238423],[0.6885628441876966,-0.34342183618930244]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[-0.4800709946641374,-1.681117194836435,0.71338606911949],"aabb_xy":[[-0.5400709949155384,-1.7353985198728994],[-0.42007099441273615,-1.62683586979997]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.02752134959886965,-0.3539858036762742,0.71338606911949],"aabb_xy":[[-0.03478259716927706,-0.36677281393978367],[-0.020260102028462235,-0.3411987934127647]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.33817835508942834,-1.386707254897177,0.71338606911949],"aabb_xy":[[-0.3463929002051122,-1.3953838451948182],[-0.32996380997374425,-1.3780306645995355]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[-0.5742345035258627,-1.5162484758943178,0.71338606911949],"aabb_xy":[[-0.5854795590964805,-1.527490273618413],[-0.5629894479552449,-1.5050066781702225]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[0.2911706110407979,-1.1389553765606828,0.71338606911949],"aabb_xy":[[0.22717061245422543,-1.1859623399601915],[0.35517060962737035,-1.091948413161174]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.21864509464285303,-1.05524682040573,0.71338606911949],"aabb_xy":[[-0.2826450968632601,-1.099619904531018],[-0.15464509242244603,-1.0108737362804414]]},{"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_17","position":[0.6410752173778249,0.19132546875838896,0.71338606911949],"aabb_xy":[[0.6035752172059529,0.15862473337548175],[0.6785752175496967,0.22402620414129612]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[0.289019971564076,-0.5074254240740506,0.71338606911949],"aabb_xy":[[0.27151997242970877,-0.5173050511116383],[0.3065199706984431,-0.4975457970364627]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[0.33242929972237745,-0.7849396419273824,0.71338606911949],"aabb_xy":[[0.2724292988615646,-0.8363660719338686],[0.3924293005831902,-0.7335132119208958]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.1162902218968852,-1.1334985880706954,0.71338606911949],"aabb_xy":[[0.09928012460683454,-1.1496330765689693],[0.13330031918693586,-1.1173640995724214]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.5782957282160703,1.604269662526264,0.71338606911949],"aabb_xy":[[-0.5959285638095979,1.586646716510641],[-0.5606628926225428,1.621892608541887]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[0.38884907397555546,-1.3339288998980054,0.71338606911949],"aabb_xy":[[0.3847132176428553,-1.3714288993423627],[0.3929849303082557,-1.2964289004536487]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.4405427890915914,0.514039126343588,0.71338606911949],"aabb_xy":[[0.3905427895152568,0.4640585473914821],[0.4905427886679262,0.564019705295694]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[0.05077452498602575,-2.249408394202964,0.71338606911949],"aabb_xy":[[0.025774525434287265,-2.2595508780680986],[0.07577452453776423,-2.239265910337829]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_25","position":[0.5859337961070532,1.2767175174128358,0.71338606911949],"aabb_xy":[[0.5159337942983077,1.2553637486486484],[0.6559337979157985,1.2980712861770232]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[0.07985751168573163,0.8333658405515552,0.71338606911949],"aabb_xy":[[0.04235751158013867,0.826543678698574],[0.11735751179132457,0.8401880024045363]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[-0.27957346917913956,-0.42666404783044687,0.71338606911949],"aabb_xy":[[-0.3345689469997989,-0.48166404926435374],[-0.2245779913584801,-0.3716640463965399]]}],"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":0.6915128697482077,"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/7709.png","name":"7709"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7709.png","name":"7709"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9981.png","name":"9981"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5923.png","name":"5923"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6908.png","name":"6908"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3666.png","name":"3666"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":816.6851900702811,"rotation_z_degrees":76.47981260815375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015657695960968946,-0.0007234265260200393,-0.0007493244751660896]},{"name":"camera_2","offset_m":[-0.0015870505871999618,0.01757712244664143,0.019741862668506156]},{"name":"camera_3","offset_m":[0.01985930322429055,0.009980700854936499,-0.01918521631095282]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007614552454574583,-0.001121891651529741,0.0006289594207572612],"end_effector_yaw_offset_degrees":-0.6371259547760335},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006689732243013312,-0.000728793411667581,0.0012090804761612259],"end_effector_yaw_offset_degrees":0.5545257996507593},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008526622712224999,-0.0010414277990819598,-8.158997645108402e-05],"end_effector_yaw_offset_degrees":0.4331292981332091}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00379220030440506,0.0010740739518141753],"position_m":[0.30039220030440505,0.3664740739518142,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00020256384798517622,0.0009201032986407365],"position_m":[0.2704974361520148,-0.3547798967013593,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004461219965798575,0.0037768727970886014],"position_m":[0.3481612199657986,0.2688768727970886,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002142685968066549,0.004061097897180967],"position_m":[0.31085731403193345,0.06736109789718096,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2cf5021b405e0fd881ad7939f8e4aadc320d1f5559d1209230e504782df3a55f","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7709/tex_ceiling_textures_3666/tex_floor_textures_6908/tex_table_textures_9981/tex_wall_textures_5923","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":151159420482080564,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":151159420482080564,"visual_seed":151159420482080564,"scene_id":"lab_003","finished_at":"2026-09-04T15:41:05"} +{"episode_id":"ep_000005","started_at":"2026-09-04T15:41:08","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[0.7093737117181409,-0.20854762098056545,0.71338606911949],"aabb_xy":[[0.7028720752101363,-0.21831544300687522],[0.7158753482261455,-0.19877979895425568]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[-0.08068157787509334,-1.0170029463651473,0.71338606911949],"aabb_xy":[[-0.09255366088659445,-1.1020029460587977],[-0.06880949486359222,-0.932002946671497]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.5114385974346072,0.6214128890295125,0.71338606911949],"aabb_xy":[[-0.5914385960914932,0.6069080301052497],[-0.43143859877772117,0.6359177479537753]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.27845207845182574,-0.35338169070395953,0.71338606911949],"aabb_xy":[[-0.34245207871229655,-0.39839049005688754],[-0.21445207819135495,-0.3083728913510315]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.14174252324838743,0.7542671136064034,0.71338606911949],"aabb_xy":[[-0.14973601304366949,0.7462689816659279],[-0.13374903345310543,0.7622652455468792]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[0.6352474677153737,-0.502090572583203,0.71338606911949],"aabb_xy":[[0.6052799108055481,-0.5320905728810887],[0.6652150246251994,-0.47209057228531726]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[-0.5310958800890557,-1.324445736266726,0.71338606911949],"aabb_xy":[[-0.5950958765163776,-1.3716153600888226],[-0.4670958836617338,-1.2772761124446297]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[0.6001186300032944,-2.445216103915551,0.71338606911949],"aabb_xy":[[0.5920049753299172,-2.4533219203695804],[0.6082322846766715,-2.437110287461522]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.6065921755259229,-1.1232182626774858,0.71338606911949],"aabb_xy":[[0.5695580660978632,-1.157595470011195],[0.6436262849539827,-1.0888410553437762]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[0.2972375109655401,-1.5693290577932026,0.71338606911949],"aabb_xy":[[0.2863859047166645,-1.5801883485208537],[0.3080891172144157,-1.5584697670655516]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.655955075505798,-2.1261678857314172,0.71338606911949],"aabb_xy":[[-0.6609110956906793,-2.148667885933539],[-0.650999055320917,-2.1036678855292963]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.3534415305498926,-2.430994431748199,0.71338606911949],"aabb_xy":[[0.3454051958486077,-2.439032551052616],[0.36147786525117737,-2.422956312443782]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.02576576611747383,1.3929479708062287,0.71338606911949],"aabb_xy":[[-0.04092863909441092,1.3777825135111101],[-0.010602893140536753,1.4081134281013477]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[-0.005737178202782411,1.6290279587692287,0.71338606911949],"aabb_xy":[[-0.033582214983389536,1.598243460030917],[0.022107858577824713,1.6598124575075404]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[-0.5010719243999798,-0.011461999558383784,0.71338606911949],"aabb_xy":[[-0.5432563385608106,-0.07546199983559498],[-0.4588875102391491,0.052538000718827416]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[0.008141678405790165,1.711291698799648,0.71338606911949],"aabb_xy":[[-0.001489957814639455,1.7016543860199391],[0.017773314626219783,1.720929011579357]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.19996775184691185,-0.9898111620334491,0.71338606911949],"aabb_xy":[[0.19270650427650446,-1.0025981722969586],[0.2072289994173193,-0.9770241517699396]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[0.09687686795600992,-2.458315691590447,0.71338606911949],"aabb_xy":[[0.03187686980009084,-2.4846119361403596],[0.16187686611192897,-2.432019447040535]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[-0.4167865485044169,0.8742073527735128,0.71338606911949],"aabb_xy":[[-0.48178654950491734,0.8234209876188379],[-0.3517865475039163,0.9249937179281877]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[-0.4019713695048077,1.3229834049553313,0.71338606911949],"aabb_xy":[[-0.4306207018652239,1.2943378456782553],[-0.37332203714439144,1.3516289642324069]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.34768682090041514,1.6564256248303564,0.71338606911949],"aabb_xy":[[-0.4116868180125208,1.6073932550359458],[-0.28368682378830945,1.705457994624767]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.5112561843341936,-0.2577921728550723,0.71338606911949],"aabb_xy":[[0.48085807323505,-0.2881990748567418],[0.5416542954333371,-0.2273852708534028]]}],"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":0.6921018442832831,"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/4197.png","name":"4197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4197.png","name":"4197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1610.png","name":"1610"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2863.png","name":"2863"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8269.png","name":"8269"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8144.png","name":"8144"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":692.7661722750092,"rotation_z_degrees":211.6858651023594,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00816279125653597,0.01745168602198025,0.009732283006155824]},{"name":"camera_2","offset_m":[-0.009123248249166313,0.01441220486990306,0.009261814230579]},{"name":"camera_3","offset_m":[-0.0034176957091635665,-0.004803777531356711,-0.010656244525062877]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000463770047847009,-0.0018141525241703756,0.0002434427363295355],"end_effector_yaw_offset_degrees":0.05938700796433327},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017678223478414371,0.0016178313262276813,-0.00024279179863571183],"end_effector_yaw_offset_degrees":-0.1370445458062881},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003983527913400068,-0.0005825982035090544,-0.0011351528397585435],"end_effector_yaw_offset_degrees":-0.32819071935443533}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001359328828207944,0.004848774682926125],"position_m":[0.29524067117179204,0.3702487746829261,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016353234997128463,-0.002604959673285935],"position_m":[0.26906467650028715,-0.35830495967328596,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028359390173651267,0.001780840432211296],"position_m":[0.3465359390173651,0.2668808404322113,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029548158069074948,0.00013615740717773817],"position_m":[0.3100451841930925,0.06343615740717773,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8ed1e531f4ac747430b35a6c7f26cf6c66d37ebaf3a5e746a8d9caacf613381d","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4197/tex_ceiling_textures_8144/tex_floor_textures_8269/tex_table_textures_1610/tex_wall_textures_2863","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8801919262744542773,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8801919262744542773,"visual_seed":8801919262744542773,"scene_id":"lab_003","finished_at":"2026-09-04T15:44:29"} +{"episode_id":"ep_000006","started_at":"2026-09-04T15:44:32","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.027005750374116677,-2.070470150906017,0.71338606911949],"aabb_xy":[[-0.03578697752135291,-2.0792498981945475],[-0.018224523226880455,-2.061690403617487]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[-0.3134709637513214,-1.552522483925977,0.71338606911949],"aabb_xy":[[-0.35097096369508773,-1.5608155739608136],[-0.2759709638075549,-1.5442293938911404]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.4889361443617104,0.774903746881269,0.71338606911949],"aabb_xy":[[0.476309357074514,0.765357673179696],[0.5015629316489068,0.7844498205828419]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.5979318695970506,-0.39670817751497855,0.71338606911949],"aabb_xy":[[0.5179318725828025,-0.4168427291883899],[0.6779318666112985,-0.37657362584156734]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.1910331724095834,1.01731604184554,0.71338606911949],"aabb_xy":[[0.12703317203204978,0.9675707749947278],[0.255033172787117,1.0670613086963523]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.568686855061843,-1.406123212181427,0.71338606911949],"aabb_xy":[[-0.5727650129688928,-1.4102041924296904],[-0.5646086971547932,-1.4020422319331638]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.10399060040383978,-1.0300327836846996,0.71338606911949],"aabb_xy":[[0.07055042520782016,-1.0634764095156293],[0.13743077559985936,-0.9965891578537692]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[0.12300917570561565,1.5387332160160834,0.71338606911949],"aabb_xy":[[0.03800917701354099,1.5067473526212045],[0.2080091743976903,1.5707190794109622]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[0.6580818311523109,-2.2163258466039517,0.71338606911949],"aabb_xy":[[0.651041521218774,-2.296325846003623],[0.665122141085848,-2.1363258472042803]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.2064458799540545,-1.3480359695112596,0.71338606911949],"aabb_xy":[[0.15696545874009574,-1.4120359674241116],[0.2559263011680133,-1.284035971598408]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.3103387482098926,-2.368277785557278,0.71338606911949],"aabb_xy":[[-0.32378527484393593,-2.381747637210369],[-0.29689222157584927,-2.3548079339041865]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.11843817284123359,1.0149024208543809,0.71338606911949],"aabb_xy":[[-0.14472699716167423,0.9886309871997295],[-0.09214934852079291,1.0411738545090319]]},{"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_12","position":[-0.5927443142561228,0.07543692044851058,0.71338606911949],"aabb_xy":[[-0.6777443126735461,-0.009437375013774396],[-0.5077443158386996,0.16031121591079556]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.09553059433277311,1.7602017933926555,0.71338606911949],"aabb_xy":[[-0.16553059614151855,1.738848024628468],[-0.025530592524027673,1.7815555621568429]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[-0.6154206604749806,1.4386044184571163,0.71338606911949],"aabb_xy":[[-0.6379343522984376,1.3686044178561088],[-0.5929069686515233,1.5086044190581238]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[0.5376483886517043,0.9577455720710133,0.71338606911949],"aabb_xy":[[0.4898422210379356,0.8927455693639541],[0.5854545562654729,1.022745574778072]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[-0.6604053435275266,-2.5624517079293225,0.71338606911949],"aabb_xy":[[-0.678198850462443,-2.5802514535251206],[-0.6426118365926101,-2.5446519623335253]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.6894399829618032,-1.6111848213761206,0.71338606911949],"aabb_xy":[[0.6793582758832295,-1.691184819268235],[0.6995216900403765,-1.5311848234840058]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[-0.3797259273186883,-0.9019822108602764,0.71338606911949],"aabb_xy":[[-0.3948282287797063,-0.9170837324913382],[-0.3646236258576701,-0.8868806892292146]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.19346374769119812,-2.455393961423263,0.71338606911949],"aabb_xy":[[0.11346374903431214,-2.4698988203475265],[0.2734637463480841,-2.4408891024990007]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[-0.03950518419681193,0.11996543154617845,0.71338606911949],"aabb_xy":[[-0.0745051840928308,0.11159119603423852],[-0.004505184300793059,0.1283396670581184]]}],"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":0.693269026731953,"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/5929.png","name":"5929"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5929.png","name":"5929"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7948.png","name":"7948"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2.png","name":"2"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4755.png","name":"4755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4938.png","name":"4938"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":827.7884439026786,"rotation_z_degrees":343.58151211163806,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004950817926656784,-0.01924930396691794,-0.0015922253300319385]},{"name":"camera_2","offset_m":[0.00377447588252321,0.003912064164865985,-0.017004599327946214]},{"name":"camera_3","offset_m":[-0.010175285831468818,-0.01663911056293787,0.01577182926150558]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004671745054919767,-0.0018187482920540682,-0.0009184037043687269],"end_effector_yaw_offset_degrees":0.05921316158204948},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00045876257126275643,0.0019941060464757805,-0.001230986337955977],"end_effector_yaw_offset_degrees":0.45371833870281053},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015167574818159332,0.001539187362185464,0.0004456531958144179],"end_effector_yaw_offset_degrees":-0.8362506678097954}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014216504525716455,-0.004676946920534422],"position_m":[0.29517834954742833,0.36072305307946556,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008725571083001756,-0.0035986431010635546],"position_m":[0.2698274428916998,-0.3592986431010636,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00480274951036165,0.00454007363706603],"position_m":[0.34850274951036164,0.26964007363706605,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004900055642149799,0.0043285153938531105],"position_m":[0.3080999443578502,0.0676285153938531,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ca1e286688489839539e1160bf69584ccebedaa73ca2de795f0cd9b1cc93dc18","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0006.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5929/tex_ceiling_textures_4938/tex_floor_textures_4755/tex_table_textures_7948/tex_wall_textures_2","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":103609951770469776,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":103609951770469776,"visual_seed":103609951770469776,"scene_id":"lab_003","finished_at":"2026-09-04T15:47:02"} +{"episode_id":"ep_000007","started_at":"2026-09-04T15:47:05","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.43200055547611055,-2.510440474229218,0.71338606911949],"aabb_xy":[[-0.43663567062834385,-2.5143078093063664],[-0.427365440323877,-2.506573139152069]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.44255058583781115,-1.021311337586007,0.71338606911949],"aabb_xy":[[0.37255058370638156,-1.0440733032117024],[0.5125505879692407,-0.9985493719603111]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.574178305963861,0.22710261271068077,0.71338606911949],"aabb_xy":[[0.5241783046029738,0.17712470813526515],[0.6241783073247482,0.2770805172860964]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.5133114289523277,-0.5131702873990709,0.71338606911949],"aabb_xy":[[-0.5773114322420358,-0.5565052064029884],[-0.44931142566261967,-0.4698353683951532]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[-0.6203808577305526,-2.3221116004824354,0.71338606911949],"aabb_xy":[[-0.6322529407420537,-2.4071116001760857],[-0.6085087747190515,-2.237111600788785]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.3570092954995063,0.18256102035460442,0.71338606911949],"aabb_xy":[[-0.3619085878060697,0.15488410105203562],[-0.3521100031929427,0.21023793965717316]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[0.3339156263739782,-2.445953320946928,0.71338606911949],"aabb_xy":[[0.3109999134889283,-2.4688576180833515],[0.3568313392590281,-2.4230490238105045]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[-0.18520700330183748,-1.699106890569381,0.71338606911949],"aabb_xy":[[-0.1929101939759145,-1.7068162612681188],[-0.1775038126277604,-1.6913975198706426]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[0.2022637176090143,-1.2790037448906315,0.71338606911949],"aabb_xy":[[0.12226371434500113,-1.292563777199545],[0.2822637208730274,-1.2654437125817184]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[0.35736882740808307,-2.2416608415182453,0.71338606911949],"aabb_xy":[[0.35032851747454613,-2.321660840917917],[0.3644091373416201,-2.1616608421185743]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[0.4671275477930721,0.0810128970919739,0.71338606911949],"aabb_xy":[[0.45920426755432375,0.05851289685397054],[0.4750508280318204,0.10351289732997726]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.09191562331212588,-2.3279053244667587,0.71338606911949],"aabb_xy":[[-0.15691562119377367,-2.3790289881733],[-0.026915625430478075,-2.2767816607602183]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.5100797389625975,-1.2242788591943956,0.71338606911949],"aabb_xy":[[-0.5145103683174378,-1.2297272309290783],[-0.5056491096077574,-1.2188304874597133]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.39482029554716863,-1.0249255957934877,0.71338606911949],"aabb_xy":[[-0.4282994628082096,-1.0584047091645947],[-0.3613411282861277,-0.9914464824223808]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[-0.35893815617588665,0.7331802503383202,0.71338606911949],"aabb_xy":[[-0.42393815717638716,0.6823938851836453],[-0.29393815517538613,0.7839666154929952]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[0.3704306141179998,0.8427842829901833,0.71338606911949],"aabb_xy":[[0.3251519992368505,0.7787842836419997],[0.415709228999149,0.906784282338367]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[-0.25735109955793667,-1.9005165936253334,0.71338606911949],"aabb_xy":[[-0.32735110219452296,-1.920621458621199],[-0.18735109692135027,-1.880411728629468]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[-0.33183701762525314,-0.46214445912295643,0.71338606911949],"aabb_xy":[[-0.3818212533334303,-0.512144457936452],[-0.28185278191707586,-0.4121444603094608]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[0.38860329884747014,-1.3276422041181721,0.71338606911949],"aabb_xy":[[0.38326572318146557,-1.352642205047312],[0.3939408745134747,-1.3026422031890323]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.416653151372752,-0.1656524920374829,0.71338606911949],"aabb_xy":[[-0.45415315216474744,-0.17202033299567296],[-0.37915315058075655,-0.15928465107929277]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[-0.2705744888046111,-0.9555984718933987,0.71338606911949],"aabb_xy":[[-0.3073691219295174,-0.9925043469899809],[-0.23377985567970483,-0.9186925967968164]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.5041494597504159,-1.4803877018984855,0.71338606911949],"aabb_xy":[[-0.5386119377635036,-1.487051379081408],[-0.46968698173732804,-1.4737240247155625]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[-0.4091643790661102,-2.284261998996897,0.71338606911949],"aabb_xy":[[-0.4590470759438064,-2.334261998243172],[-0.35928168218841394,-2.2342619997506223]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[0.2349022132058769,-1.0216185217665517,0.71338606911949],"aabb_xy":[[0.2124057917720128,-1.044118521573299],[0.257398634639741,-0.9991185219598042]]}],"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":0.6921924753507962,"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/3230.png","name":"3230"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3230.png","name":"3230"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7924.png","name":"7924"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2832.png","name":"2832"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7580.png","name":"7580"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/570.png","name":"570"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":788.2163497459125,"rotation_z_degrees":288.1100083662743,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004199254124349162,0.015301363583389186,-0.013159271232344004]},{"name":"camera_2","offset_m":[-0.019368803309200926,0.019605118327837023,0.0005294632721350515]},{"name":"camera_3","offset_m":[-0.009321074883757134,-0.005732423320155925,-0.006398074945333945]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010395874713554467,0.0004373707871095098,-0.000633915448534827],"end_effector_yaw_offset_degrees":0.30466285466809473},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011890752392538686,-0.0012001672929942632,0.0016483756887318043],"end_effector_yaw_offset_degrees":0.920705667020137},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002470312319588616,0.0008431468864001264,0.00042659033168496565],"end_effector_yaw_offset_degrees":0.5174610401765534}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00011262396839370123,-0.004228885381392524],"position_m":[0.29671262396839365,0.36117111461860746,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011629394081523158,-0.001998568289906402],"position_m":[0.2695370605918477,-0.3576985682899064,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005758973603122797,-0.004321769530422356],"position_m":[0.34312410263968773,0.26077823046957765,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0042036182499413585,0.0021587943358177533],"position_m":[0.30879638175005863,0.06545879433581775,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0451189211c814cfa2038e3eede1972947bcaab03a7599901771f2145626071c","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3230/tex_ceiling_textures_570/tex_floor_textures_7580/tex_table_textures_7924/tex_wall_textures_2832","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":3422537903615689203,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":3422537903615689203,"visual_seed":3422537903615689203,"scene_id":"lab_003","finished_at":"2026-09-04T15:50:31"} +{"episode_id":"ep_000008","started_at":"2026-09-04T15:50:34","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.37002098129259253,-0.42622034058792657,0.71338606911949],"aabb_xy":[[-0.40752098123635894,-0.4345134306227631],[-0.33252098134882613,-0.41792725055308994]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.6232594716502459,-0.5755162561118032,0.71338606911949],"aabb_xy":[[-0.6326769462201086,-0.5849324332495223],[-0.6138419970803831,-0.5661000789740842]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[0.6601474806529939,-0.6811250455236673,0.71338606911949],"aabb_xy":[[0.6101686721426779,-0.7311250455293861],[0.7101262891633097,-0.6311250455179485]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[0.42218234756291717,0.7093148235912383,0.71338606911949],"aabb_xy":[[0.4000098205862663,0.687139156435115],[0.44435487453956796,0.7314904907473614]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.6607147466392193,-0.4243778194929262,0.71338606911949],"aabb_xy":[[-0.6773918826323149,-0.4410777434668565],[-0.6440376106461239,-0.40767789551899597]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[0.08694463921487339,-0.8057772987958955,0.71338606911949],"aabb_xy":[[0.061944640049240274,-0.8127295445012521],[0.1119446383805065,-0.798825053090539]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.6215936828145594,0.8869084060288146,0.71338606911949],"aabb_xy":[[-0.632005241495043,0.8815626726929159],[-0.6111821241340756,0.8922541393647129]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.412425584334142,-0.808921286472583,0.71338606911949],"aabb_xy":[[0.3484255821137349,-0.8532943705978714],[0.476425586554549,-0.7645482023472948]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[0.3797105798372806,-1.429165142084445,0.71338606911949],"aabb_xy":[[0.3578208322483399,-1.519165139373694],[0.4016003274262215,-1.3391651447951958]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.21990338178694463,1.0932278431886928,0.71338606911949],"aabb_xy":[[-0.28490338289288797,1.0682624701205647],[-0.15490338068100137,1.1181932162568213]]},{"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_10","position":[-0.6298902774792009,0.5853501807128736,0.71338606911949],"aabb_xy":[[-0.6875207463664716,0.5253501817861629],[-0.5722598085919299,0.6453501796395841]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[0.6789691598573722,-1.8647353596195884,0.71338606911949],"aabb_xy":[[0.6614692264233887,-1.8822353595398227],[0.6964690932913554,-1.8472353596993536]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.04462488795619568,0.6172395450749977,0.71338606911949],"aabb_xy":[[-0.06350927172470588,0.598353620294645],[-0.025740504187685476,0.6361254698553506]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[-0.32415747583729104,-0.801616081256862,0.71338606911949],"aabb_xy":[[-0.4141574781713101,-0.8790984358419746],[-0.23415747350327198,-0.7241337266717492]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.16609964337545058,-1.9550799831699055,0.71338606911949],"aabb_xy":[[0.10209964146310824,-2.010991132427916],[0.23009964528779292,-1.899168833911895]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[0.4077105204524769,0.9174447236652017,0.71338606911949],"aabb_xy":[[0.3712146998251981,0.880960781238444],[0.4442063410797556,0.9539286660919591]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.20390841667462367,-1.6203549596333893,0.71338606911949],"aabb_xy":[[-0.2414084170228514,-1.6321463552144726],[-0.16640841632639589,-1.6085635640523055]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[-0.36032201625817833,-2.214921364268183,0.71338606911949],"aabb_xy":[[-0.44032201951602135,-2.294917872060167],[-0.28032201300033543,-2.134924856476199]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.28286056121773395,1.7155328627355506,0.71338606911949],"aabb_xy":[[-0.29097421589111105,1.7074270462815213],[-0.27474690654435685,1.7236386791895795]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.07877277697109897,-2.2874382504613235,0.71338606911949],"aabb_xy":[[0.02895599750626421,-2.3374382489456265],[0.12858955643593373,-2.2374382519770197]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.559750811498513,-0.5290172247864096,0.71338606911949],"aabb_xy":[[0.5518275312597647,-0.551517225024413],[0.5676740917372614,-0.5065172245484063]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[0.16364427616930888,1.1128509935941047,0.71338606911949],"aabb_xy":[[0.11376157929161265,1.0628509943478301],[0.21352697304700508,1.1628509928403796]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[0.32784563775948183,-1.097994965200767,0.71338606911949],"aabb_xy":[[0.27287191572314895,-1.1529949647650002],[0.3828193597958147,-1.0429949656365338]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.2589853373296739,-2.0128661047930443,0.71338606911949],"aabb_xy":[[-0.274148210306611,-2.028031562088163],[-0.24382246435273686,-1.9977006474979255]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[-0.3887769078519613,-1.0907060488674072,0.71338606911949],"aabb_xy":[[-0.4687707314305195,-1.1707060514602488],[-0.30878308427340306,-1.0107060462745656]]}],"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":0.6897480907504732,"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/7478.png","name":"7478"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7478.png","name":"7478"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6938.png","name":"6938"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6338.png","name":"6338"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4792.png","name":"4792"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9103.png","name":"9103"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":842.2684035190774,"rotation_z_degrees":293.328652236452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017308771044345677,-0.0193920925938274,-0.013745566635900396]},{"name":"camera_2","offset_m":[0.013665475284957169,-0.014116407956608481,0.00694943460920611]},{"name":"camera_3","offset_m":[-0.010292388040805399,0.017419882893028035,0.015874544876427036]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00013038315158495767,-0.00039558329537273725,0.0009964964293477925],"end_effector_yaw_offset_degrees":0.3934032111314414},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002633390822691464,-0.0006136503865445614,-0.0014408909332217017],"end_effector_yaw_offset_degrees":0.8459630550480199},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009409360096439556,-0.0012560207940184634,-0.001246182245730957],"end_effector_yaw_offset_degrees":-0.32011813739618145}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008273323879843418,0.003697718888745756],"position_m":[0.2974273323879843,0.36909771888874576,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036443224756109362,-0.0013785161893197372],"position_m":[0.2670556775243891,-0.35707851618931974,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018611986443350303,-0.0032256991388694813],"position_m":[0.34183880135566497,0.2618743008611305,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011099618876314185,0.0020346275535757796],"position_m":[0.3141099618876314,0.06533462755357577,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5476a4f037457ce8b911ff388669605330c015f33dae75f4cef185ee85c7f9ed","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7478/tex_ceiling_textures_9103/tex_floor_textures_4792/tex_table_textures_6938/tex_wall_textures_6338","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":9192893337477678682,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":9192893337477678682,"visual_seed":9192893337477678682,"scene_id":"lab_003","finished_at":"2026-09-04T15:53:36"} +{"episode_id":"ep_000009","started_at":"2026-09-04T15:53:40","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.13287087388440144,-1.0325204097030645,0.71338606911949],"aabb_xy":[[0.05287087692136225,-1.1095960513468377],[0.21287087084744058,-0.9554447680592908]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.2689208241442371,-1.4065011236834368,0.71338606911949],"aabb_xy":[[0.2587678085900877,-1.442570665256177],[0.27907383969838645,-1.3704315821106963]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.6567846749649602,-1.2620763215751334,0.71338606911949],"aabb_xy":[[0.6493722194235717,-1.2679275319967613],[0.6641971305063487,-1.2562251111535054]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.5428791089539099,0.5997255521462046,0.71338606911949],"aabb_xy":[[-0.6068791060660156,0.550693182351794],[-0.4788791118418042,0.6487579219406152]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[-0.6777615614823339,-2.4109319207031943,0.71338606911949],"aabb_xy":[[-0.6830940761369468,-2.4162562489484296],[-0.672429046827721,-2.405607592457958]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[-0.1938202844083945,0.7812701866579896,0.71338606911949],"aabb_xy":[[-0.24379334994091,0.7312701868454569],[-0.14384721887587906,0.8312701864705228]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.31906238622441324,0.40415361145291717,0.71338606911949],"aabb_xy":[[-0.3389534261047535,0.3914978001682204],[-0.299171346344073,0.41680942273761407]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.10681861570988671,-1.5257449778307228,0.71338606911949],"aabb_xy":[[0.016818619209014948,-1.5716566202491808],[0.19681861221075844,-1.4798333354122644]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[-0.5910204771616091,0.9682399524700336,0.71338606911949],"aabb_xy":[[-0.6285204774537839,0.96419847706943],[-0.5535204768694343,0.9722814278706372]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[0.37070363103588844,1.554101321953659,0.71338606911949],"aabb_xy":[[0.33722446377484755,1.520622208582552],[0.40418279829692944,1.587580435324766]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.6438704019928736,-1.7048601909715628,0.71338606911949],"aabb_xy":[[0.5986990841447046,-1.7688601881161017],[0.6890417198410426,-1.6408601938270249]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.5018373644911935,0.6924289064538778,0.71338606911949],"aabb_xy":[[0.4739923277105864,0.6616444077155661],[0.5296824012718007,0.7232134051921895]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[0.24362745766849403,-0.7364375342610263,0.71338606911949],"aabb_xy":[[0.18362745602557218,-0.7884376835529705],[0.3036274593114159,-0.6844373849690821]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[-0.5418101096283215,-0.9991818624832927,0.71338606911949],"aabb_xy":[[-0.6058101110363121,-1.0509708140072171],[-0.4778101082203308,-0.947392910959368]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.48820764532478284,-0.24448432997811187,0.71338606911949],"aabb_xy":[[-0.5682076474875453,-0.32443951360425544],[-0.40820764316202035,-0.1645291463519682]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[0.5392316112740461,1.0601514438301898,0.71338606911949],"aabb_xy":[[0.5142316120020837,1.0438060802340272],[0.5642316105460082,1.076496807426352]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.3009151568388527,-1.1933445398336802,0.71338606911949],"aabb_xy":[[0.2932908887486745,-1.2009777633702239],[0.30853942492903097,-1.1857113162971364]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[0.6582208946156609,-0.6607552232870255,0.71338606911949],"aabb_xy":[[0.5942208943551901,-0.7057640226399535],[0.7222208948761317,-0.6157464239340975]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.021672780458433016,-0.0029362471405511847,0.71338606911949],"aabb_xy":[[-0.03600720558459647,-0.01499646269509003],[-0.007338355332269564,0.00912396841398766]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.09899293034207146,-2.020347446600019,0.71338606911949],"aabb_xy":[[-0.10984453659094706,-2.03120673732767],[-0.08814132409319586,-2.0094881558723676]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[0.31305645789067027,0.6830838804233625,0.71338606911949],"aabb_xy":[[0.2514656986666775,0.6190838823143158],[0.37464721711466314,0.7470838785324095]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[-0.11892987104445807,-2.438569126279122,0.71338606911949],"aabb_xy":[[-0.19892986844805144,-2.5185616974773044],[-0.03892987364086462,-2.3585765550809388]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[-0.0011154366457549747,-1.7819025961236123,0.71338606911949],"aabb_xy":[[-0.09080251295387043,-1.8719025963780627],[0.08857163966236048,-1.6919025958691616]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.16143957067157022,0.15921492180758312,0.71338606911949],"aabb_xy":[[-0.19643956980152588,0.153469700731919],[-0.12643957154161456,0.16496014288324723]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[-0.010022911871290452,-0.7407664256493327,0.71338606911949],"aabb_xy":[[-0.05983969133612521,-0.7907664241336361],[0.03979386759354431,-0.6907664271650293]]},{"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_25","position":[0.3057250644187208,-2.4669764386974014,0.71338606911949],"aabb_xy":[[0.2207250660012976,-2.5518507341596863],[0.39072506283614405,-2.3821021432351164]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[0.4621043272245646,-2.232826305043113,0.71338606911949],"aabb_xy":[[0.39210432383300253,-2.2681420787465436],[0.5321043306161264,-2.197510531339682]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_27","position":[0.6652814545016528,0.5591354072892112,0.71338606911949],"aabb_xy":[[0.6239769114379168,0.4951354077210941],[0.7065859975653888,0.6231354068573283]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_28","position":[-0.5309709529808267,-2.2505505963208248,0.71338606911949],"aabb_xy":[[-0.5531434799574775,-2.2727262634769483],[-0.5087984260041758,-2.228374929164702]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_29","position":[-0.2693781849689823,-2.2318505356387743,0.71338606911949],"aabb_xy":[[-0.2870110205625099,-2.2494734816543973],[-0.25174534937545473,-2.2142275896231514]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_30","position":[-0.36157821934935475,1.5759714026755405,0.71338606911949],"aabb_xy":[[-0.3747294653206441,1.5509714029188542],[-0.3484269733780654,1.6009714024322272]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_31","position":[0.5216070146303868,-0.3901262700553283,0.71338606911949],"aabb_xy":[[0.5027226308618766,-0.4090121948356811],[0.540491398398897,-0.3712403452749755]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_32","position":[0.6207972921530376,-0.4520434571587524,0.71338606911949],"aabb_xy":[[0.603121661564439,-0.4697236734381551],[0.6384729227416357,-0.4343632408793496]]}],"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":0.6913128462787062,"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/889.png","name":"889"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/889.png","name":"889"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1124.png","name":"1124"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4571.png","name":"4571"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8122.png","name":"8122"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6608.png","name":"6608"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":724.3674781060419,"rotation_z_degrees":63.90512533836152,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017709615058314806,-0.01576518004581986,-0.011140789170738637]},{"name":"camera_2","offset_m":[0.004086793584680174,0.004921372232827324,-0.009391143038671204]},{"name":"camera_3","offset_m":[0.012645049886007998,-0.006805231161418996,-0.013185657346676379]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008478975725106897,0.0004150452800956465,0.001263384471962959],"end_effector_yaw_offset_degrees":-0.808276764795901},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015752554536015142,0.0011365777259354339,0.000985263688140588],"end_effector_yaw_offset_degrees":0.36026367043990426},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014656277217805409,-0.00010895856009793541,0.001387262651007208],"end_effector_yaw_offset_degrees":0.9726689136589097}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00455035682597768,0.0019484868200300674],"position_m":[0.3011503568259776,0.3673484868200301,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024526707522613124,-0.0024315646540517643],"position_m":[0.2682473292477387,-0.35813156465405177,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012065148050482673,0.0015314957835442468],"position_m":[0.34490651480504825,0.2666314957835442,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002476080815923287,-0.003441210897473617],"position_m":[0.31052391918407674,0.05985878910252638,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"285e0121e1b21328862b6e0f87f3dfb54658f7a3c58cea06d78c0747ce98633f","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0009.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_889/tex_ceiling_textures_6608/tex_floor_textures_8122/tex_table_textures_1124/tex_wall_textures_4571","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5650813901053991538,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5650813901053991538,"visual_seed":5650813901053991538,"scene_id":"lab_003","finished_at":"2026-09-04T15:56:39"} +{"episode_id":"ep_000010","started_at":"2026-09-04T15:56:43","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.5315890860080957,0.4336995841155762,0.71338606911949],"aabb_xy":[[-0.5728378970380104,0.3786995846033587],[-0.49034027497818095,0.4886995836277936]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.40583564063172556,-1.728492671936848,0.71338606911949],"aabb_xy":[[-0.4303492647287314,-1.7527572652388845],[-0.3813220165347197,-1.7042280786348116]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[-0.4799416856882923,-0.4664584280928463,0.71338606911949],"aabb_xy":[[-0.488743740997265,-0.47426975424777534],[-0.47113963037931955,-0.4586471019379172]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.21445794144328767,-1.6625518133709452,0.71338606911949],"aabb_xy":[[-0.21979551710929224,-1.687551814300085],[-0.2091203657772831,-1.6375518124418054]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.5957982167567442,-1.2978737535965277,0.71338606911949],"aabb_xy":[[-0.6160825194801428,-1.3181563787392363],[-0.5755139140333453,-1.2775911284538186]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.6557783785836471,0.4507485375334177,0.71338606911949],"aabb_xy":[[0.6448726024960845,0.3707485411345885],[0.6666841546712099,0.5307485339322469]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[0.6361203036114464,1.1400753529908978,0.71338606911949],"aabb_xy":[[0.6136203040877389,1.1175794055402766],[0.6586203031351537,1.1625713004415181]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.6957386237814398,-1.6758849242195346,0.71338606911949],"aabb_xy":[[0.6877123531508139,-1.6846364191968874],[0.7037648944120659,-1.6671334292421822]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.5712579927852355,-2.2839817247483443,0.71338606911949],"aabb_xy":[[-0.6609450690933509,-2.3739817250027944],[-0.48157091647712,-2.1939817244938933]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[0.07241041360209866,-1.8171829987628287,0.71338606911949],"aabb_xy":[[0.008410410312390535,-1.8605179177667466],[0.13641041689180675,-1.7738480797589113]]},{"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_10","position":[0.3064502386630368,-1.3728540318255937,0.71338606911949],"aabb_xy":[[0.2977522763723215,-1.3849790061330685],[0.31514820095375207,-1.360729057518119]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[-0.13055578138657153,-1.4240957972674546,0.71338606911949],"aabb_xy":[[-0.19455578166054976,-1.4741618974647426],[-0.0665557811125933,-1.3740296970701666]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[-0.3569473674045394,-2.2472527454826836,0.71338606911949],"aabb_xy":[[-0.4069466425729756,-2.2972527467586312],[-0.30694809223610325,-2.197252744206737]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[-0.0841975424578888,0.6034230327907668,0.71338606911949],"aabb_xy":[[-0.13919075379502555,0.5484230324519732],[-0.02920433112075204,0.6584230331295604]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.3162769371172869,-0.49239370033539487,0.71338606911949],"aabb_xy":[[-0.3537769383020796,-0.4968119230314553],[-0.27877693593249403,-0.4879754776393343]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[-0.6391114818198947,-1.1956779829240756,0.71338606911949],"aabb_xy":[[-0.6431896397269445,-1.1997589631723389],[-0.635033323912845,-1.1915970026758123]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.384218771711028,1.5728866092135845,0.71338606911949],"aabb_xy":[[-0.4542187735197734,1.551532840449397],[-0.31421876990228254,1.5942403779777718]]},{"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_17","position":[-0.17363840872487946,1.5749927442484508,0.71338606911949],"aabb_xy":[[-0.23126887761215026,1.5149927453217398],[-0.11600793983760857,1.634992743175161]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.3326940116787028,-0.8651246369321182,0.71338606911949],"aabb_xy":[[-0.3966940108484728,-0.9118913240510806],[-0.2686940125089329,-0.8183579498131557]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.17665607984031773,1.8191087982567633,0.71338606911949],"aabb_xy":[[0.16342513430563643,1.8058813792347634],[0.18988702537499902,1.8323362172787623]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[-0.05027565653237276,-0.6459395636268588,0.71338606911949],"aabb_xy":[[-0.07386077999626761,-0.7109395658722906],[-0.026690533068477906,-0.580939561381427]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[0.3871718435908247,1.5943312641232743,0.71338606911949],"aabb_xy":[[0.35471014270889717,1.5641984320083715],[0.4196335444727521,1.6244640962381767]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[-0.5874541427487832,0.08392169104454617,0.71338606911949],"aabb_xy":[[-0.6049541418831502,0.07404206400695833],[-0.5699541436144159,0.09380131808213397]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[0.6243607325714426,1.5030051492247813,0.71338606911949],"aabb_xy":[[0.6021882055947918,1.4808294820686583],[0.6465332595480935,1.5251808163809042]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[0.4815585983226165,1.0534732166075713,0.71338606911949],"aabb_xy":[[0.4344292193207807,0.9894732155631694],[0.528687977324452,1.1174732176519733]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_25","position":[-0.4649221106579625,-0.2889180374810483,0.71338606911949],"aabb_xy":[[-0.47548959031606153,-0.29946306759405683],[-0.4543546309998635,-0.2783730073680397]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.665435904948739,1.322331656221973,0.71338606911949],"aabb_xy":[[0.650273031971802,1.3071661989268542],[0.6805987779256761,1.3374971135170917]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_27","position":[0.3176034044913951,-2.2326916935598775,0.71338606911949],"aabb_xy":[[0.24760340109983311,-2.268007467263308],[0.38760340788295705,-2.197375919856446]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[0.025214788751270922,-1.2107217508065273,0.71338606911949],"aabb_xy":[[-0.038785211626262694,-1.2604670176573396],[0.08921478912880454,-1.160976483955715]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_29","position":[0.1613167261665579,0.9942797387709819,0.71338606911949],"aabb_xy":[[0.15168508994612828,0.9846424259912728],[0.17094836238698752,1.0039170515506908]]}],"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":0.6967445533381141,"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/9499.png","name":"9499"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9499.png","name":"9499"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3179.png","name":"3179"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5495.png","name":"5495"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1253.png","name":"1253"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/919.png","name":"919"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":695.6760176463584,"rotation_z_degrees":223.67862061383482,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01088482556332675,0.01523511297566615,-0.0015075247288897295]},{"name":"camera_2","offset_m":[-0.0017024469290597005,-0.013918005174683789,-0.018041084282274446]},{"name":"camera_3","offset_m":[0.013071675659931174,0.011002671481320132,0.000526201377994244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007765914452179242,-0.00015517031101932688,-0.0003854879814566203],"end_effector_yaw_offset_degrees":0.6379877313987856},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013920500423127168,-0.0012621979178571627,0.0015030834538458685],"end_effector_yaw_offset_degrees":-0.06998016623587278},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010824033769676199,-0.0011531705740165266,-0.0006107692324125295],"end_effector_yaw_offset_degrees":-0.36961503420121034}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015919488764745806,-0.004130031623625048],"position_m":[0.29819194887647454,0.36126996837637493,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003376176806821159,-0.0032852606559254528],"position_m":[0.27407617680682117,-0.35898526065592545,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001251274209177373,-0.002588290185368122],"position_m":[0.34244872579082264,0.2625117098146319,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003815601813397248,-0.001857656416784064],"position_m":[0.30918439818660276,0.06144234358321593,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"182e8bfc907bcd5dc35909d2f14ccf90fbaea40d1ff11977458acbedcb6340b8","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9499/tex_ceiling_textures_919/tex_floor_textures_1253/tex_table_textures_3179/tex_wall_textures_5495","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4894312105779994343,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4894312105779994343,"visual_seed":4894312105779994343,"scene_id":"lab_003","finished_at":"2026-09-04T15:59:50"} +{"episode_id":"ep_000011","started_at":"2026-09-04T15:59:54","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[-0.1592128372075251,1.3145930534047414,0.71338606911949],"aabb_xy":[[-0.1842128367592636,1.3044505695396067],[-0.13421283765578662,1.3247355372698761]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[0.27907012052406055,-1.5856477875376056,0.71338606911949],"aabb_xy":[[0.22407012232231574,-1.626169754164043],[0.3340701187258054,-1.5451258209111678]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.3558829997048065,1.279059967968919,0.71338606911949],"aabb_xy":[[0.32539874957777637,1.229059968187423],[0.3863672498318367,1.329059967750415]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.1582083251391484,1.0067113597349744,0.71338606911949],"aabb_xy":[[-0.19500295826405467,0.9698054846383921],[-0.12141369201424212,1.0436172348315567]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[-0.4399580102729546,-1.9499241128902534,0.71338606911949],"aabb_xy":[[-0.47850370309815565,-1.988469883946442],[-0.4014123174477536,-1.9113783418340646]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.6266157146460594,1.7070446323095276,0.71338606911949],"aabb_xy":[[0.6137438111451192,1.627044631895691],[0.6394876181469995,1.7870446327233633]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.1425189408030132,-1.12252633928694,0.71338606911949],"aabb_xy":[[0.07851894369090753,-1.1715587090813508],[0.2065189379151189,-1.0734939694925296]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[-0.29764632319833056,0.8565129775586606,0.71338606911949],"aabb_xy":[[-0.3876463196992023,0.8106013351402024],[-0.20764632669745883,0.9024246199771189]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[-0.32014929464166025,-1.0432924108037234,0.71338606911949],"aabb_xy":[[-0.3801492951495131,-1.1001391444896444],[-0.2601492941338073,-0.986445677117802]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[-0.10787181372080301,-2.5154120065091643,0.71338606911949],"aabb_xy":[[-0.11599950191411625,-2.5243256149198725],[-0.0997441255274898,-2.506498398098457]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[-0.09651246076834219,-1.6037086251006127,0.71338606911949],"aabb_xy":[[-0.14649669647651942,-1.6537086239141083],[-0.04652822506016496,-1.5537086262871171]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[0.2081039610365497,1.6588319909719202,0.71338606911949],"aabb_xy":[[0.13810395890512014,1.6360700253462246],[0.27810396316797925,1.681593956597616]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.11919369050391726,-0.22671728411240633,0.71338606911949],"aabb_xy":[[-0.1831936877895659,-0.2682240030652503],[-0.055193693218268614,-0.18521056515956233]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.1461728456966911,-2.004489452352935,0.71338606911949],"aabb_xy":[[0.13737079038771835,-2.0123007785078637],[0.15497490100566377,-1.9966781261980058]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.6430591500044953,-0.27277113054898194,0.71338606911949],"aabb_xy":[[0.6208866230278444,-0.29494679770510507],[0.665231676981146,-0.2505954633928587]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.6815654837305005,0.03818795844817435,0.71338606911949],"aabb_xy":[[0.6590654837203521,0.024091738808571073],[0.7040654837406487,0.05228417808777763]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[0.07288654201350808,-2.4172328978723967,0.71338606911949],"aabb_xy":[[0.035386542196474524,-2.4218711091835385],[0.11038654183054164,-2.412594686561255]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[-0.07055656786041653,-2.0862499110162114,0.71338606911949],"aabb_xy":[[-0.077969023401805,-2.0921011214378393],[-0.06314411231902806,-2.0803987005945834]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[-0.4881003568470983,0.1714422459669378,0.71338606911949],"aabb_xy":[[-0.5224166340217162,0.12144224599376008],[-0.4537840796724804,0.22144224594011552]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.1297588445529061,0.48737623564877763,0.71338606911949],"aabb_xy":[[-0.16725884297630642,0.47421202168094706],[-0.09225884612950572,0.5005404496166084]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.5290266672796782,0.11985202057802846,0.71338606911949],"aabb_xy":[[0.5139243658186599,0.1047504989469666],[0.544128968740696,0.13495354220909023]]}],"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":0.693312137040404,"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/4928.png","name":"4928"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4928.png","name":"4928"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2024.png","name":"2024"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1186.png","name":"1186"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2274.png","name":"2274"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3372.png","name":"3372"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":710.9832927553115,"rotation_z_degrees":193.08606689502344,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0029151556261108776,0.0033179729439102926,-0.004928937957092976]},{"name":"camera_2","offset_m":[-0.0048762224763088165,-0.0049962755382348956,0.007146518081370484]},{"name":"camera_3","offset_m":[-0.011104221930095503,0.0031281765996647587,-0.003773274738213206]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002214724738577819,0.0008606259043142661,0.0019067582824886355],"end_effector_yaw_offset_degrees":-0.8745286050072785},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009768389886653872,0.0015985065882691742,-0.0001296121843262412],"end_effector_yaw_offset_degrees":-0.7927438490483416},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001777923344251533,-0.00023229330357540825,0.0013096767184987007],"end_effector_yaw_offset_degrees":0.14006185478881283}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013501700137267146,-0.004599083099286675],"position_m":[0.2979501700137267,0.3608009169007133,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006674168886910293,-0.003343174053123882],"position_m":[0.27003258311130895,-0.3590431740531239,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030907674190963986,-0.0045236841904486595],"position_m":[0.3467907674190964,0.2605763158095513,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-3.882072998584538e-05,0.0033435302695441387],"position_m":[0.31296117927001416,0.06664353026954413,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"482c6724bbd4b83a017e5e8e8fc14c9ac40883505a90d010656ce2e55a0c102a","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4928/tex_ceiling_textures_3372/tex_floor_textures_2274/tex_table_textures_2024/tex_wall_textures_1186","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":21601468907542605,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":21601468907542605,"visual_seed":21601468907542605,"scene_id":"lab_003","finished_at":"2026-09-04T16:02:59"} +{"episode_id":"ep_000012","started_at":"2026-09-04T16:03:02","dimensions":{"distractor":{"count":24,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[-0.12455906108033177,1.6767586327800843,0.71338606911949],"aabb_xy":[[-0.2045590643443449,1.663198600471171],[-0.04455905781631862,1.6903186650889976]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[0.378710966749102,0.8291871262673727,0.71338606911949],"aabb_xy":[[0.35619727492564474,0.7591871256663651],[0.4012246585725591,0.8991871268683802]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.17564748602574165,0.8458231101484732,0.71338606911949],"aabb_xy":[[0.09564748386297917,0.7658679265223296],[0.25564748818850414,0.9257782937746168]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.6200351029145744,1.3399058902651313,0.71338606911949],"aabb_xy":[[-0.6700343780830106,1.2899058889891843],[-0.5700358277461383,1.3899058915410787]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[0.030360471304760273,1.3603829278289967,0.71338606911949],"aabb_xy":[[0.021558415995787554,1.3525716016740676],[0.03916252661373297,1.3681942539839258]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[0.39167048481977407,-2.2451206355288176,0.71338606911949],"aabb_xy":[[0.3875923269127243,-2.249201615777081],[0.3957486427268238,-2.241039655280554]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[0.4007493759669405,-1.9868696015469716,0.71338606911949],"aabb_xy":[[0.3507705674566246,-2.0368696015526906],[0.4507281844772564,-1.936869601541253]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[-0.09994581785032397,-1.015727326513895,0.71338606911949],"aabb_xy":[[-0.15994581810172512,-1.0700086515503597],[-0.03994581759892277,-0.9614460014774304]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[0.6403746200707627,-2.1360737887469803,0.71338606911949],"aabb_xy":[[0.6153746205190243,-2.146216272612115],[0.6653746196225012,-2.1259313048818456]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.5854211928632153,1.5833101003565635,0.71338606911949],"aabb_xy":[[-0.5898518222180555,1.577861728621881],[-0.5809905635083752,1.588758472091246]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.4787492311544832,1.654949249223057,0.71338606911949],"aabb_xy":[[0.46530270452043987,1.6414793975699655],[0.49219575778852653,1.6684191008761482]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[-0.4085984798394869,-1.7518586090390738,0.71338606911949],"aabb_xy":[[-0.43218360330338174,-1.8168586112845055],[-0.38501335637559203,-1.686858606793642]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.09990957416009061,-0.8605096728080943,0.71338606911949],"aabb_xy":[[0.053824482905359135,-0.9245096700606493],[0.1459946654148221,-0.7965096755555391]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[-0.35063530259215464,0.8964481591865114,0.71338606911949],"aabb_xy":[[-0.3688411262534023,0.8854227586045199],[-0.33242947893090696,0.9074735597685032]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[-0.3282602388657403,0.30292129958039826,0.71338606911949],"aabb_xy":[[-0.3346740525089252,0.2965114793327299],[-0.3218464252225553,0.3093311198280666]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[0.1574025114502764,1.1793658119738306,0.71338606911949],"aabb_xy":[[0.1355127638613356,1.0893658146845815],[0.1792922590392172,1.2693658092630797]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[0.07657788557695633,-1.8253176885603315,0.71338606911949],"aabb_xy":[[0.06929556920029264,-1.9153176921698403],[0.08386020195361996,-1.7353176849508223]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.003961987981941251,1.1761832982650273,0.71338606911949],"aabb_xy":[[-0.03842446599502902,1.1695196210821044],[0.03050049003114652,1.1828469754479498]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.336037355416953,-0.630930557256645,0.71338606911949],"aabb_xy":[[-0.3585337768508171,-0.6534305570633925],[-0.3135409339830889,-0.6084305574498976]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.13580594924569656,-2.099469757492032,0.71338606911949],"aabb_xy":[[0.12403776245103906,-2.184469757397254],[0.1475741360403541,-2.0144697575868107]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[0.04253027723094105,-2.3387963687135014,0.71338606911949],"aabb_xy":[[-0.002641040617227926,-2.40279636585804],[0.08770159507911002,-2.274796371568963]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[-0.6693802704053522,-0.27455089701462976,0.71338606911949],"aabb_xy":[[-0.6845431433822893,-0.28971635430974846],[-0.6542173974284151,-0.25938543971951095]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.11654810479257727,1.4634409695419648,0.71338606911949],"aabb_xy":[[0.09203448069557141,1.4391763762399283],[0.14106172888958313,1.4877055628440012]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[0.4122078259743218,0.5687899240884065,0.71338606911949],"aabb_xy":[[0.3222078262511476,0.5457165715532265],[0.5022078256974959,0.5918632766235862]]}],"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":0.6929362162676715,"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/3991.png","name":"3991"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3991.png","name":"3991"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6617.png","name":"6617"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3835.png","name":"3835"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2244.png","name":"2244"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2244.png","name":"2244"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":538.3153725587265,"rotation_z_degrees":339.26880653232587,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01283938810741642,-0.015736420524921114,0.003623534826478182]},{"name":"camera_2","offset_m":[0.00823963745947415,-0.00744344038818197,0.015817256442227094]},{"name":"camera_3","offset_m":[0.019994364580948724,0.003202840618713551,0.019281785534842572]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006848290634526215,0.0007722505939740556,0.0013691254972934552],"end_effector_yaw_offset_degrees":0.939990111139904},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013707539028926608,0.0019838091221373736,-0.0008969468878371983],"end_effector_yaw_offset_degrees":-0.32460690429389616},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009199303782346721,-0.0015179306769188506,-0.0011335496213375875],"end_effector_yaw_offset_degrees":0.76480143342797}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005912276265446145,-0.0037265559136058124],"position_m":[0.29600877237345535,0.3616734440863942,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025197660454396465,0.0027124645040248405],"position_m":[0.2732197660454396,-0.35298753549597517,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001302216683300693,0.002368339622998523],"position_m":[0.3423977833166993,0.26746833962299854,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003916594409480783,0.00483504588066462],"position_m":[0.3090834055905192,0.06813504588066462,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69b538f1a6512d5bc17f7ee0360b3695ef809052931705086fc6657e8b72db09","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3991/tex_ceiling_textures_2244/tex_floor_textures_2244/tex_table_textures_6617/tex_wall_textures_3835","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":496930389000532202,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":496930389000532202,"visual_seed":496930389000532202,"scene_id":"lab_003","finished_at":"2026-09-04T16:06:15"} +{"episode_id":"ep_000013","started_at":"2026-09-04T16:06:19","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.5673869766238344,-1.4871446574113223,0.71338606911949],"aabb_xy":[[0.5565353703749588,-1.4980039481389733],[0.57823858287271,-1.4762853666836713]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.4454900036495322,-0.11600508303601531,0.71338606911949],"aabb_xy":[[-0.515490007041094,-0.15132085673944617],[-0.37549000025797014,-0.08068930933258445]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.131531831829254,-0.9655153167047943,0.71338606911949],"aabb_xy":[[0.07653958119374306,-1.0205153184481073],[0.18652408246476496,-0.9105153149614817]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.21151922404000045,0.8640434125748229,0.71338606911949],"aabb_xy":[[-0.21547970780973483,0.8563755479893023],[-0.20755874027026608,0.8717112771603435]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.2907996720855933,1.001594371920902,0.71338606911949],"aabb_xy":[[0.22680397469049673,0.9375943736201933],[0.3547953694806899,1.0655943702216106]]},{"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_5","position":[-0.40568452897192125,-1.9621266294171806,0.71338606911949],"aabb_xy":[[-0.4117791568600396,-1.9706960239688496],[-0.39958990108380293,-1.9535572348655121]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.49773527570885445,1.55253103500749,0.71338606911949],"aabb_xy":[[0.4752352756987061,1.5384348153678866],[0.5202352757190027,1.5666272546470932]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[-0.28768569111956394,-1.0705196131676633,0.71338606911949],"aabb_xy":[[-0.3051164061985704,-1.087791727831514],[-0.27025497604055737,-1.0532474985038123]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.1339568689624543,-0.9167359590959414,0.71338606911949],"aabb_xy":[[-0.15175037589737073,-0.9345357046917391],[-0.11616336202753785,-0.8989362135001437]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.25034792068063205,-2.5637696103362755,0.71338606911949],"aabb_xy":[[-0.25631445962136784,-2.569730754995639],[-0.24438138173989626,-2.557808465676911]]},{"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_10","position":[0.6599089983694963,0.2435721022757109,0.71338606911949],"aabb_xy":[[0.629917335635626,0.21357210293891035],[0.6899006611033667,0.27357210161251144]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[-0.151722954338682,-2.100704776031473,0.71338606911949],"aabb_xy":[[-0.15964623457743032,-2.1232047762694766],[-0.14379967409993366,-2.07820477579347]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[0.42366001435112066,-1.413182520163727,0.71338606911949],"aabb_xy":[[0.3436600121883581,-1.4931377037898703],[0.5036600165138831,-1.333227336537583]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[-0.6167503745915545,1.7765651261889892,0.71338606911949],"aabb_xy":[[-0.6279954301621722,1.765323328464894],[-0.6055053190209365,1.7878069239130845]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.4986732246127894,-2.3318258497458326,0.71338606911949],"aabb_xy":[[0.476173224798887,-2.336300466116313],[0.5211732244266918,-2.327351233375352]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[-0.4288163246174881,0.8601934342025812,0.71338606911949],"aabb_xy":[[-0.4540371614773277,0.8349696833496943],[-0.40359548775764836,0.8854171850554678]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.10385329221170314,-0.027543329101927583,0.71338606911949],"aabb_xy":[[-0.16885329009335096,-0.07866699280846846],[-0.03885329433005536,0.023580334604613295]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[-0.4752586832958798,-1.4650723068441507,0.71338606911949],"aabb_xy":[[-0.4927586824302469,-1.4749519338817385],[-0.45775868416151255,-1.4551926798065629]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[0.21656644569983408,-2.3871299761394678,0.71338606911949],"aabb_xy":[[0.1815664443483523,-2.407489712096288],[0.25156644705131576,-2.3667702401826465]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[0.5668352194465192,1.291165807685922,0.71338606911949],"aabb_xy":[[0.5418352201745568,1.2748204440897595],[0.5918352187184813,1.3075111712820842]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[-0.030435398005793868,-1.9839478515798068,0.71338606911949],"aabb_xy":[[-0.037476848956541464,-1.9909746033176012],[-0.023393947055046268,-1.9769210998420124]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[-0.37231804663001317,-1.1715111849564768,0.71338606911949],"aabb_xy":[[-0.4091685945670008,-1.2090111857795105],[-0.33546749869302556,-1.134011184133443]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[0.13595788896095862,-0.7817516428518576,0.71338606911949],"aabb_xy":[[0.13225462763181972,-0.7854536611605754],[0.13966115029009746,-0.7780496245431396]]},{"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_23","position":[-0.1606999144283845,-1.1760347082338807,0.71338606911949],"aabb_xy":[[-0.21833038331565527,-1.236034707160591],[-0.10306944554111358,-1.1160347093071699]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[-0.5036509103632918,-0.22387445231058356,0.71338606911949],"aabb_xy":[[-0.5258234373399425,-0.24605011946670666],[-0.48147838338664084,-0.2016987851544603]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[-0.30161824266155557,-1.4812991233314416,0.71338606911949],"aabb_xy":[[-0.34770333391628705,-1.5452991205839968],[-0.2555331514068241,-1.4172991260788865]]},{"name":"lh_cell_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_26","position":[-0.286941744027258,1.4195056315119206,0.71338606911949],"aabb_xy":[[-0.3509417447307274,1.3734872490389995],[-0.22294174332378874,1.4655240139848416]]}],"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":0.696601134171896,"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/5301.png","name":"5301"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5301.png","name":"5301"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9845.png","name":"9845"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8067.png","name":"8067"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2360.png","name":"2360"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1698.png","name":"1698"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":628.4664141322736,"rotation_z_degrees":341.0164313073366,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005282069394416498,0.010101201061781681,-0.01497142202214322]},{"name":"camera_2","offset_m":[0.015403687187269016,0.01346315848955194,-0.002420385422016058]},{"name":"camera_3","offset_m":[0.011679278162561996,-0.01614198529235801,-0.012582257861700379]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011553987785684328,0.0014688669031508077,0.0006233669693884686],"end_effector_yaw_offset_degrees":-0.3389566370702948},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013005739840145512,0.0010817582356745323,-0.0015391362097341768],"end_effector_yaw_offset_degrees":0.008987684699082399},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009344203062915946,0.0008018543260094341,-0.0003469981856342717],"end_effector_yaw_offset_degrees":-0.4255959229246453}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009256878841912217,0.0006901078144868379],"position_m":[0.2975256878841912,0.36609010781448686,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037133038360488,-0.00244502630651262],"position_m":[0.2744133038360488,-0.3581450263065126,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00019602791522191788,0.0009301921123222303],"position_m":[0.34350397208477806,0.2660301921123222,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037919006867559437,0.00451611618429655],"position_m":[0.30920809931324406,0.06781611618429655,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe2d39fe7c4ed197b7d9ad3623f9655b9dc092736dca0262d8e571444f42ad15","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0013.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5301/tex_ceiling_textures_1698/tex_floor_textures_2360/tex_table_textures_9845/tex_wall_textures_8067","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8335345184497406688,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8335345184497406688,"visual_seed":8335345184497406688,"scene_id":"lab_003","finished_at":"2026-09-04T16:09:25"} +{"episode_id":"ep_000014","started_at":"2026-09-04T16:09:29","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.20949615811629263,1.288775256184675,0.71338606911949],"aabb_xy":[[0.20071493096905643,1.279995508896145],[0.21827738526352888,1.2975550034732055]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[0.5948619673955313,-1.4424423853672956,0.71338606911949],"aabb_xy":[[0.5773619671504817,-1.4599421732068625],[0.6123619676405805,-1.4249425975277288]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.2568117525934165,-2.429999229752572,0.71338606911949],"aabb_xy":[[0.24705576308424254,-2.4397617638118065],[0.2665677421025903,-2.4202366956933377]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.05825167877051285,-1.9395906708728639,0.71338606911949],"aabb_xy":[[-0.08075167858441523,-1.9440652872433444],[-0.035751678956610466,-1.9351160545023829]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[0.5237057702584738,1.7097193586487518,0.71338606911949],"aabb_xy":[[0.5085336009768404,1.6945505017205482],[0.5388779395401071,1.724888215576955]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.47812615422568006,1.5378664888237954,0.71338606911949],"aabb_xy":[[-0.49570445641462685,1.5202919992496902],[-0.46054785203673315,1.5554409783979002]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.00044180675420069093,1.1754708127138698,0.71338606911949],"aabb_xy":[[-0.03705819374315755,1.1715021291657512],[0.037941807251558934,1.1794394962619883]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.5515276289690252,-2.1635093725068777,0.71338606911949],"aabb_xy":[[-0.5595211187643073,-2.1715075044473537],[-0.5435341391737433,-2.1555112405664025]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[0.27742968063157336,-1.988785949078143,0.71338606911949],"aabb_xy":[[0.21342967734186521,-2.03212086808206],[0.3414296839212814,-1.9454510300742252]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.05074995442387775,-1.4203180414059327,0.71338606911949],"aabb_xy":[[-0.0042422962116331975,-1.4753180431492456],[0.10574220505938872,-1.36531803966262]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.47214113408705294,0.7530061751195403,0.71338606911949],"aabb_xy":[[-0.5271411322887978,0.7124842084931026],[-0.41714113588530816,0.7935281417459777]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[0.004540480201129737,1.5231912251685862,0.71338606911949],"aabb_xy":[[-0.03249362922692998,1.4888140178348765],[0.04157458962918945,1.5575684325022954]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[0.6124969691074342,-1.1462785752900198,0.71338606911949],"aabb_xy":[[0.584167259158894,-1.1507393174837368],[0.6408266790559745,-1.1418178330963027]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[-0.2562255337308464,1.3367389604368318,0.71338606911949],"aabb_xy":[[-0.26326698468159404,1.3297122086990376],[-0.24918408278009885,1.3437657121746265]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.5547176988349383,-0.3808914765364424,0.71338606911949],"aabb_xy":[[-0.592217700019731,-0.38530969923250286],[-0.5172176976501454,-0.3764732538403818]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[0.39420099072165704,1.054803230025322,0.71338606911949],"aabb_xy":[[0.3441035267405834,0.9908032295155103],[0.44429845470273066,1.1188032305351339]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.42354565549749074,1.4253878380353355,0.71338606911949],"aabb_xy":[[-0.4585456554739866,1.4159232219877191],[-0.38854565552099496,1.4348524540829524]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.04040996674314923,0.7406314763226525,0.71338606911949],"aabb_xy":[[-0.09538368877948211,0.6856314767584194],[0.014563755293183656,0.7956314758868858]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.11106756126694717,-0.9424132419847855,0.71338606911949],"aabb_xy":[[-0.1760675613012499,-0.9891139186651127],[-0.04606756123264444,-0.8957125653044581]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.437020981433462,-0.8073827729248146,0.71338606911949],"aabb_xy":[[0.34733390512534656,-0.8973827731792652],[0.5267080577415775,-0.7173827726703641]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.5751246320967096,-2.445501017038856,0.71338606911949],"aabb_xy":[[0.5499037952368698,-2.470724767891742],[0.6003454689565492,-2.420277266185968]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.6491004894095824,-0.4538154091498785,0.71338606911949],"aabb_xy":[[0.6146381420114404,-0.4883092915477012],[0.683562836807724,-0.4193215267520558]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[0.4322270469618694,-1.1852351082152763,0.71338606911949],"aabb_xy":[[0.397227048651174,-1.1929501231388218],[0.46722704527256487,-1.1775200932917305]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[0.6806334403907226,-0.5972977582933447,0.71338606911949],"aabb_xy":[[0.663000604797195,-0.6149207043089676],[0.6982662759842502,-0.5796748122777217]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[-0.21694063721030038,0.4455906428071641,0.71338606911949],"aabb_xy":[[-0.2474248873373305,0.39559064302566815],[-0.1864563870832702,0.49559064258866004]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[0.4744759975452464,-2.374108065711563,0.71338606911949],"aabb_xy":[[0.44818717322480567,-2.4003794993662138],[0.5007648218656869,-2.3478366320569113]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[-0.4098062727745317,-0.318820818620253,0.71338606911949],"aabb_xy":[[-0.4598011057024733,-0.36882081751549656],[-0.3598114398465901,-0.2688208197250095]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[-0.3406809581017542,0.2105937062458456,0.71338606911949],"aabb_xy":[[-0.4206809550647933,0.13351806460207216],[-0.260680961138715,0.28766934788961906]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_28","position":[0.06644351443670438,0.9745896540342875,0.71338606911949],"aabb_xy":[[0.006443513575891568,0.9231632240278012],[0.12644351529751716,1.0260160840407737]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_29","position":[0.6597764085504527,1.1278212313949334,0.71338606911949],"aabb_xy":[[0.6097764075313175,1.0913550156571057],[0.709776409569588,1.1642874471327616]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_30","position":[0.06941994710445853,-1.5967610019933602,0.71338606911949],"aabb_xy":[[0.019419947528123815,-1.6467415809454664],[0.11941994668079325,-1.5467804230412545]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_31","position":[0.1513244337576657,0.6476691335186935,0.71338606911949],"aabb_xy":[[0.10132443511174449,0.5977495898592311],[0.20132443240358688,0.6975886771781559]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_32","position":[-0.5357228757582864,0.4977500940909594,0.71338606911949],"aabb_xy":[[-0.6257228794352043,0.4363176875138549],[-0.44572287208136796,0.5591825006680636]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_33","position":[0.04322013551863668,-2.0365689034810193,0.71338606911949],"aabb_xy":[[-0.020779861593469007,-2.08560127327543],[0.10722013263074237,-1.9875365336866087]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_34","position":[-0.19551332991706177,-1.6230583348509382,0.71338606911949],"aabb_xy":[[-0.2367621409469765,-1.6780583343631554],[-0.15426451888714704,-1.5680583353387205]]}],"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":0.6906877359323839,"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/6640.png","name":"6640"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6640.png","name":"6640"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4477.png","name":"4477"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9262.png","name":"9262"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1202.png","name":"1202"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/568.png","name":"568"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":588.84049241695,"rotation_z_degrees":185.96618012936645,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01425907995066088,-0.015960333979592352,0.01170894027678503]},{"name":"camera_2","offset_m":[0.0057847418871321,0.00447117019219424,-0.014315720532687596]},{"name":"camera_3","offset_m":[-0.014742158831501997,-0.017381862875684453,-0.017156132360330312]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001355976807249645,-0.0008113914173994913,-0.0018819790027729219],"end_effector_yaw_offset_degrees":-0.7289508553272772},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009208356463450119,-0.00027931631823371514,0.0002043423067681965],"end_effector_yaw_offset_degrees":0.42742089744948},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004715234091004195,-0.0016552303775407302,-0.0011491148992952972],"end_effector_yaw_offset_degrees":0.34750903683964696}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010738654139761713,-0.0027375085325636738],"position_m":[0.29767386541397617,0.36266249146743634,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020358533065297324,-0.0005319925939604904],"position_m":[0.2686641466934703,-0.3562319925939605,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014224975227190972,0.0025061603692496486],"position_m":[0.3422775024772809,0.26760616036924967,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002792294431732314,-0.0024246240595709356],"position_m":[0.3127207705568268,0.060875375940429056,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"33269ae998d4a538a17c2b0f27da832cd897aafa2bf3c75fb522902ea6f45e05","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6640/tex_ceiling_textures_568/tex_floor_textures_1202/tex_table_textures_4477/tex_wall_textures_9262","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1999737729035353437,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1999737729035353437,"visual_seed":1999737729035353437,"scene_id":"lab_003","finished_at":"2026-09-04T16:12:33"} +{"episode_id":"ep_000015","started_at":"2026-09-04T16:12:37","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[-0.6298318707600288,-0.30060028375092696,0.71338606911949],"aabb_xy":[[-0.6342625001148691,-0.3060486554856096],[-0.6254012414051887,-0.2951519120162444]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[0.18467169152624763,-1.1004825165406975,0.71338606911949],"aabb_xy":[[0.17921374588922756,-1.1804825198483566],[0.1901296371632677,-1.0204825132330384]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[-0.10728647676560865,-0.32881546082174085,0.71338606911949],"aabb_xy":[[-0.1722864753226815,-0.35856799423562347],[-0.0422864782085358,-0.2990629274078582]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[-0.08132816481890492,-2.4553398398801183,0.71338606911949],"aabb_xy":[[-0.1613281619784802,-2.466887440837935],[-0.0013281676593296238,-2.443792238922301]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[0.3359782795636286,-0.8644133772408966,0.71338606911949],"aabb_xy":[[0.3184782802855417,-0.8817514773072425],[0.35347827884171545,-0.8470752771745506]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[0.46459358475847834,1.8002824867362466,0.71338606911949],"aabb_xy":[[0.444535173145238,1.7802173998270892],[0.4846519963717186,1.820347573645404]]},{"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_6","position":[0.569735846219982,1.4628642244935732,0.71338606911949],"aabb_xy":[[0.5604422279828313,1.4253642260054393],[0.5790294644571324,1.5003642229817071]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[0.2971170779316542,-0.9987657487371937,0.71338606911949],"aabb_xy":[[0.24714378392839376,-1.048765749291741],[0.34709037193491465,-0.9487657481826463]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.34416935494857004,-2.275732031245746,0.71338606911949],"aabb_xy":[[0.3097068769354822,-2.282395708428669],[0.37863183296165775,-2.2690683540628234]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[-0.5655541507553767,0.7741488230671552,0.71338606911949],"aabb_xy":[[-0.5893903683959818,0.6841488222586688],[-0.5417179331147717,0.8641488238756418]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[-0.25972388127644924,1.3626105967416224,0.71338606911949],"aabb_xy":[[-0.2679384263921331,1.3539340064439809],[-0.25150933616076515,1.3712871870392636]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.25368028309156776,1.4962834988383142,0.71338606911949],"aabb_xy":[[-0.30868028271331366,1.4412998060508415],[-0.19868028346982197,1.551267191625787]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.5682085297888417,-0.5636574176911862,0.71338606911949],"aabb_xy":[[-0.5786200884693253,-0.5690031510270847],[-0.5577969711083579,-0.5583116843552877]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.17551117269429795,-1.8813771511698887,0.71338606911949],"aabb_xy":[[0.08551117409982803,-1.8976277374833097],[0.2655111712887679,-1.8651265648564677]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.11299441419928291,0.47491075582803033,0.71338606911949],"aabb_xy":[[-0.15049441401631647,0.47027254451688844],[-0.07549441438224934,0.4795489671391721]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[0.6195185516399062,-0.008584238252146381,0.71338606911949],"aabb_xy":[[0.5495185500376268,-0.02201703145380396],[0.6895185532421858,0.004848554949511197]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.6460187774722271,1.5965504273139897,0.71338606911949],"aabb_xy":[[-0.6872675885021418,1.541550427801772],[-0.6047699664423123,1.651550426826207]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[0.6784238782279743,0.6834088413449595,0.71338606911949],"aabb_xy":[[0.633145263346825,0.6194088419967758],[0.7237024931091235,0.7474088406931432]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[-0.11831472471473214,-2.121854785334014,0.71338606911949],"aabb_xy":[[-0.15290580756877734,-2.186854785619045],[-0.08372364186068691,-2.0568547850489827]]},{"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_19","position":[-0.22582139580956267,-0.5501536298977738,0.71338606911949],"aabb_xy":[[-0.26173490023455237,-0.5860671381145284],[-0.18990789138457295,-0.5142401216810191]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[0.17789095255556242,0.8741770197572505,0.71338606911949],"aabb_xy":[[0.17192441361482663,0.8682158750978864],[0.1838574914962982,0.8801381644166145]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.2095424319108744,-1.5568852750124447,0.71338606911949],"aabb_xy":[[-0.29954242841174605,-1.602796917430903],[-0.1195424354100026,-1.5109736325939864]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.31667824899275515,-0.4107497163345677,0.71338606911949],"aabb_xy":[[-0.38067825133555666,-0.4556905675787002],[-0.25267824664995353,-0.3658088650904352]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[0.32544196549482707,0.8564060934334856,0.71338606911949],"aabb_xy":[[0.2604419645376998,0.80445788149978],[0.3904419664519542,0.9083543053671912]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.09494020630135369,0.6360296958477094,0.71338606911949],"aabb_xy":[[-0.11945383039835955,0.6117651025456728],[-0.07042658220434783,0.6602942891497458]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[0.1381262645503426,1.4566240636310588,0.71338606911949],"aabb_xy":[[0.08812626511014698,1.4066561391467423],[0.18812626399053822,1.5065919881153749]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[-0.6233087181492487,-0.6618999473382001,0.71338606911949],"aabb_xy":[[-0.6883087163051678,-0.6881961918881123],[-0.5583087199933296,-0.6356037027882879]]}],"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":0.6891823475084673,"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/4563.png","name":"4563"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4563.png","name":"4563"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5327.png","name":"5327"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2826.png","name":"2826"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8947.png","name":"8947"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5560.png","name":"5560"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":720.040768374679,"rotation_z_degrees":299.4307492979857,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003775188700898345,-0.008955776703827802,0.011356939625748425]},{"name":"camera_2","offset_m":[-0.015387468926024135,0.011167249692154196,0.0009580255322347679]},{"name":"camera_3","offset_m":[-0.0002085429629356296,-0.01419188980850238,-0.0047675306890909794]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006287991770267851,-0.0011591440629639175,-0.0010883195404136586],"end_effector_yaw_offset_degrees":0.48101218113060207},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00028507304579156916,-0.0005990652841522479,-0.0004641489331975372],"end_effector_yaw_offset_degrees":-0.33222626238913344},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00035788066834631415,0.0006030580275293187,0.0015659152773366742],"end_effector_yaw_offset_degrees":0.0675630222363075}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004532782572125677,0.0011906821644186872],"position_m":[0.2920672174278743,0.3665906821644187,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034926599633056466,-3.297003292705887e-05],"position_m":[0.26720734003669433,-0.3557329700329271,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016174288936206772,-0.0033576032972104887],"position_m":[0.34531742889362066,0.26174239670278954,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003830926141171315,-0.001777471729951261],"position_m":[0.3168309261411713,0.06152252827004873,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5839dc901493b102cb6870833062dfea7f75a36c125375ecc4cfae1764a11e0b","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4563/tex_ceiling_textures_5560/tex_floor_textures_8947/tex_table_textures_5327/tex_wall_textures_2826","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1316444323390518026,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1316444323390518026,"visual_seed":1316444323390518026,"scene_id":"lab_003","finished_at":"2026-09-04T16:15:37"} +{"episode_id":"ep_000016","started_at":"2026-09-04T16:15:41","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[0.2827864080633087,-1.0628674303652432,0.71338606911949],"aabb_xy":[[0.21278641165334686,-1.0833053660169247],[0.3527864044732704,-1.0424294947135613]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.21896920961097976,-2.5186677150477923,0.71338606911949],"aabb_xy":[[-0.24146920942488212,-2.523142331418273],[-0.19646920979707735,-2.5141930986773118]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[0.3709545900838038,-1.7297659833570114,0.71338606911949],"aabb_xy":[[0.30595458908330325,-1.7805523485116863],[0.4359545910843043,-1.6789796182023364]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.20507342661138944,-1.4295059560720822,0.71338606911949],"aabb_xy":[[-0.26907342852373184,-1.4854171053300926],[-0.14107342469904713,-1.3735948068140718]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.555480396292538,-0.3971708727649763,0.71338606911949],"aabb_xy":[[-0.5904803954853561,-0.40813791876263883],[-0.5204803970997196,-0.3862038267673136]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.012311331851783236,-0.9967966106075392,0.71338606911949],"aabb_xy":[[0.0010662762811653997,-1.0080384083316345],[0.02355638742240107,-0.9855548128834439]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[-0.4510214307505059,1.4092318953589702,0.71338606911949],"aabb_xy":[[-0.5009988476157593,1.3592318938697214],[-0.40104401388525224,1.4592318968482185]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.6104780318625765,-2.0085283266583085,0.71338606911949],"aabb_xy":[[-0.6654702824980875,-2.0635283284016217],[-0.5554857812270656,-1.9535283249149962]]},{"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_8","position":[0.31635847197027367,-2.0707146438154163,0.71338606911949],"aabb_xy":[[0.2863668092364033,-2.1007146431522163],[0.34635013470414394,-2.0407146444786153]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[-0.09880038283197101,-1.8704992194189174,0.71338606911949],"aabb_xy":[[-0.10682665346259702,-1.87925071439627],[-0.09077411220134503,-1.8617477244415648]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.034080713911595284,-1.0945095614553313,0.71338606911949],"aabb_xy":[[-0.03898000621815878,-1.1221864807579],[-0.029181421605031788,-1.0668326421527625]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[0.3877156080020703,1.0110448613893106,0.71338606911949],"aabb_xy":[[0.3804332916254065,0.9210448577798013],[0.3949979243787338,1.1010448649988192]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[0.6639594965097824,0.38145693484290044,0.71338606911949],"aabb_xy":[[0.6283303406098226,0.3458242680860475],[0.6995886524097421,0.4170896015997534]]},{"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_13","position":[0.29233209755045264,-0.9038426336676233,0.71338606911949],"aabb_xy":[[0.2564185931254629,-0.9397561418843778],[0.3282456019754423,-0.8679291254508685]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.6666670139990859,-2.548944236481054,0.71338606911949],"aabb_xy":[[-0.6762986502195155,-2.5585815492607624],[-0.6570353777786563,-2.5393069237013446]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.23332251357753064,-2.120928340504469,0.71338606911949],"aabb_xy":[[-0.24525524793935868,-2.1333104933123286],[-0.22138977921570255,-2.10854618769661]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.18146150087645185,-0.4839839991141117,0.71338606911949],"aabb_xy":[[-0.21575841189419245,-0.518280885324053],[-0.1471645898587112,-0.4496871129041703]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.15524816752536097,-0.2290234211863469,0.71338606911949],"aabb_xy":[[-0.21024137886249777,-0.2840234215251405],[-0.10025495618822425,-0.1740234208475533]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.3361118515872905,-1.7217842704949984,0.71338606911949],"aabb_xy":[[-0.38611185294817774,-1.7717621750704138],[-0.2861118502264033,-1.6718063659195825]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.6141695509531111,1.035519169053536,0.71338606911949],"aabb_xy":[[0.6015668518160348,1.0229237728286704],[0.6267722500901877,1.0481145652784014]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.5100527025746358,0.6366250159215703,0.71338606911949],"aabb_xy":[[0.49255270231529924,0.6225334737327977],[0.5275527028339725,0.6507165581103429]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[-0.2512884707317039,-2.3473223226122957,0.71338606911949],"aabb_xy":[[-0.30128847109226997,-2.397302309821898],[-0.20128847037113787,-2.2973423354026923]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[0.22305780568695532,1.0393574176555287,0.71338606911949],"aabb_xy":[[0.1530578022953933,1.0040416439520976],[0.29305780907851725,1.0746731913589593]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[0.3109678749339355,1.3552216573282698,0.71338606911949],"aabb_xy":[[0.29834108764673917,1.345675583626697],[0.32359466222113187,1.3647677310298427]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[-0.5485858967159272,-1.4582202309607883,0.71338606911949],"aabb_xy":[[-0.6026014929978272,-1.5222202338530453],[-0.49457030043402717,-1.394220228068531]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[0.5086404578365034,-1.7822208280633451,0.71338606911949],"aabb_xy":[[0.4908469509015869,-1.8000205736591428],[0.5264339647714198,-1.7644210824675475]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[-0.07538622976972853,-2.191138226106773,0.71338606911949],"aabb_xy":[[-0.13938623004370676,-2.241204326304061],[-0.0113862294957503,-2.141072125909485]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[0.4890084842951983,-0.06488158247922282,0.71338606911949],"aabb_xy":[[0.4290084836991821,-0.1196940550244463],[0.5490084848912145,-0.010069109933999343]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_28","position":[0.5658618837723286,-0.4949321904265376,0.71338606911949],"aabb_xy":[[0.5312708009182833,-0.5599321907115685],[0.6004529666263737,-0.42993219014150647]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_29","position":[-0.5499945723976476,-2.354183482020436,0.71338606911949],"aabb_xy":[[-0.6399945721208217,-2.3772568345556153],[-0.45999457267447336,-2.3311101294852556]]}],"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":0.6872771829594088,"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/4669.png","name":"4669"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4669.png","name":"4669"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1555.png","name":"1555"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/485.png","name":"485"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6997.png","name":"6997"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/986.png","name":"986"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":560.4122444469448,"rotation_z_degrees":220.43106672473942,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0002314525588246047,0.013700754634042567,0.011172322382908665]},{"name":"camera_2","offset_m":[-0.019838108931637954,0.018021517898556282,-0.013091816273906343]},{"name":"camera_3","offset_m":[-0.014335406648778193,0.005467931988029206,-0.0018771980887038221]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015419491376927057,-0.000689261070413302,0.0012293348127708457],"end_effector_yaw_offset_degrees":0.5455552294871897},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00017389283256062085,-0.0006387180449014024,0.00031996339539341456],"end_effector_yaw_offset_degrees":0.3691487833798266},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001416793400052087,0.000765646134121127,0.0018630748319524038],"end_effector_yaw_offset_degrees":-0.49819145586757285}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0032241940522525795,-0.001249985066544277],"position_m":[0.2998241940522526,0.3641500149334557,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004185500693465314,0.0025130062915149865],"position_m":[0.2665144993065347,-0.35318699370848505,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007361298156272154,0.0034948177385565682],"position_m":[0.3429638701843728,0.2685948177385566,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004926299607610642,0.001235270028788208],"position_m":[0.31792629960761065,0.0645352700287882,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b9997733217fcff2e1667491486513b721b2098f7bfb6a5c3821751445633697","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0016.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4669/tex_ceiling_textures_986/tex_floor_textures_6997/tex_table_textures_1555/tex_wall_textures_485","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":7174943520498280548,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":7174943520498280548,"visual_seed":7174943520498280548,"scene_id":"lab_003","finished_at":"2026-09-04T16:19:09"} +{"episode_id":"ep_000017","started_at":"2026-09-04T16:19:14","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.501010122113697,0.7107954326934385,0.71338606911949],"aabb_xy":[[-0.56501011850927,0.6468321442747048],[-0.4370101257181238,0.7747587211121719]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[0.5050564093669494,-0.7930155595706987,0.71338606911949],"aabb_xy":[[0.45725024175318074,-0.8580155622777575],[0.5528625769807181,-0.7280155568636397]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.6102682513432796,-2.4112607638201573,0.71338606911949],"aabb_xy":[[-0.6742682546329876,-2.454595682824075],[-0.5462682480535713,-2.3679258448162397]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[-0.08413422941127402,-1.5196688374963259,0.71338606911949],"aabb_xy":[[-0.10163422965632339,-1.5371686253358925],[-0.06663422916622462,-1.5021690496567588]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.5012862173424082,-0.05066882959449037,0.71338606911949],"aabb_xy":[[0.45118875336133457,-0.11466883010430218],[0.5513836813234818,0.013331170915321433]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[0.08517566704119994,1.4150634831695839,0.71338606911949],"aabb_xy":[[0.02017566888528087,1.3887672386196717],[0.150175665197119,1.441359727719496]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.4115993655616803,0.3453492554486295,0.71338606911949],"aabb_xy":[[0.39726494043551686,0.3332890398940906],[0.42593379068784376,0.3574094710031683]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[0.7086089573678245,-1.4319339589368005,0.71338606911949],"aabb_xy":[[0.7044731010351243,-1.4694339583811578],[0.7127448137005247,-1.3944339594924438]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.5330742790678908,-1.809593469245581,0.71338606911949],"aabb_xy":[[0.4955742782758954,-1.815961310203771],[0.5705742798598863,-1.8032256282873906]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[-0.22113995988694196,-1.5005620344022466,0.71338606911949],"aabb_xy":[[-0.23155151856742565,-1.5059077677381447],[-0.21072840120645822,-1.495216301066348]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[0.5839913332990834,0.9642969562516099,0.71338606911949],"aabb_xy":[[0.5651069495305732,0.9454110314712569],[0.6028757170675936,0.9831828810319625]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[-0.36192055010107543,1.0920766225472538,0.71338606911949],"aabb_xy":[[-0.3656238114302143,1.0883746042385358],[-0.3582172887719366,1.0957786408559713]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[0.33858805233130784,-1.8658391044521079,0.71338606911949],"aabb_xy":[[0.2585880509011806,-1.9453562594647174],[0.418588053761435,-1.7863219494394984]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[0.2561658617735756,-0.7751408605529864,0.71338606911949],"aabb_xy":[[0.19216586009557818,-0.8236582520323006],[0.3201658634515729,-0.7266234690736721]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[0.34188687742317403,-2.0741933520956044,0.71338606911949],"aabb_xy":[[0.2768868764226735,-2.124979717250279],[0.40688687842367455,-2.023406986940929]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.10811671594178363,1.3621884865786504,0.71338606911949],"aabb_xy":[[-0.1431167151346019,1.3512214405809875],[-0.07311671674896535,1.3731555325763125]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[-0.49411304110110965,-1.197120450487171,0.71338606911949],"aabb_xy":[[-0.543995737978806,-1.247120449733446],[-0.44423034422341356,-1.1471204512408966]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.5095306643598012,-0.5333505052493419,0.71338606911949],"aabb_xy":[[-0.5735306635295713,-0.5801171923683044],[-0.4455306651900314,-0.4865838181303795]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[-0.3889295569850731,1.7587194319726556,0.71338606911949],"aabb_xy":[[-0.42139125786700043,1.7285865998577528],[-0.3564678561031455,1.788852264087558]]},{"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_19","position":[-0.22684165986896143,-0.1533702903474916,0.71338606911949],"aabb_xy":[[-0.31184165828638466,-0.23824458580977662],[-0.14184166145153823,-0.06849599488520666]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[-0.3544400215682845,-2.4314517888335674,0.71338606911949],"aabb_xy":[[-0.42444001797824626,-2.4518897244852482],[-0.2844400251583227,-2.4110138531818848]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.17648578444903984,-2.3150711078826482,0.71338606911949],"aabb_xy":[[-0.25648578310592585,-2.329575966806911],[-0.09648578579215386,-2.3005662489583854]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.555666279009601,1.7541739664933638,0.71338606911949],"aabb_xy":[[0.5374604553483534,1.7431485659113721],[0.5738721026708488,1.7651993670753554]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[-0.3446948554071605,-1.0184406582416858,0.71338606911949],"aabb_xy":[[-0.3645858952875008,-1.0310964695263827],[-0.3248038155268203,-1.005784846956989]]},{"name":"lh_cell_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_24","position":[-0.1305565830656421,-1.3300936602421154,0.71338606911949],"aabb_xy":[[-0.1945565837691115,-1.3761120427150366],[-0.06655658236217278,-1.2840752777691946]]},{"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_25","position":[-0.2077583420925906,0.9970034079188599,0.71338606911949],"aabb_xy":[[-0.21385296998070893,0.9884340133671912],[-0.2016637142044723,1.0055728024705286]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_26","position":[-0.5384227852985531,1.6169567872160528,0.71338606911949],"aabb_xy":[[-0.5688208963976967,1.5865498852143833],[-0.5080246741994096,1.6473636892177224]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[-0.32840291975054425,0.007587032661706683,0.71338606911949],"aabb_xy":[[-0.33236340352027866,-8.083192381391682e-05],[-0.32444243598080996,0.015254897247227284]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_28","position":[-0.33057892504944847,-1.8052892224482564,0.71338606911949],"aabb_xy":[[-0.4105727486280067,-1.885289225041098],[-0.25058510147089025,-1.7252892198554148]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[-0.5221854007150257,0.5387946690935639,0.71338606911949],"aabb_xy":[[-0.5762009969969257,0.4747946662013066],[-0.4681698044331257,0.6027946719858209]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_30","position":[-0.08622644600735607,0.19011384952708177,0.71338606911949],"aabb_xy":[[-0.09155896066196906,0.1847895212818462],[-0.08089393135274309,0.1954381777723174]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_31","position":[-0.6849120032064431,1.7719127579619838,0.71338606911949],"aabb_xy":[[-0.6943294777763058,1.7624965808242647],[-0.6754945286365803,1.7813289350997028]]}],"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":0.6959009006682406,"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/3405.png","name":"3405"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3405.png","name":"3405"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/151.png","name":"151"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2131.png","name":"2131"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2575.png","name":"2575"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9191.png","name":"9191"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":678.8868988733786,"rotation_z_degrees":308.4912582627975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006407280977008592,-0.006596679357925824,-0.014844437530942906]},{"name":"camera_2","offset_m":[0.01452589398424484,0.007803249189336569,-0.007510761886106918]},{"name":"camera_3","offset_m":[0.0029044592793171925,-0.0024469037764671964,-0.010334288029138898]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013482097767957561,0.0009021402495934176,0.001772420487288184],"end_effector_yaw_offset_degrees":-0.348918872024816},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007502667298773164,-0.0017458702777038049,0.0011348266987306018],"end_effector_yaw_offset_degrees":0.6023343895481954},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008992569561641192,0.000177416459327034,0.0003987811336951066],"end_effector_yaw_offset_degrees":-0.8528975595766206}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003863947886741624,-0.0024598025648273013],"position_m":[0.2969863947886741,0.3629401974351727,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002898927059691498,-0.0024414024841073025],"position_m":[0.2735989270596915,-0.3581414024841073,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002227247091908271,-0.0005098832923575549],"position_m":[0.34147275290809176,0.26459011670764243,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008893109495527393,0.0001734051543556079],"position_m":[0.31388931094955275,0.06347340515435561,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ceac6fa82999a056370a0713949e3b6e924f25e6b91cb0f55fcfc2cd2fc6e3d","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0017.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3405/tex_ceiling_textures_9191/tex_floor_textures_2575/tex_table_textures_151/tex_wall_textures_2131","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2692284238607771329,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2692284238607771329,"visual_seed":2692284238607771329,"scene_id":"lab_003","finished_at":"2026-09-04T16:22:14"} +{"episode_id":"ep_000018","started_at":"2026-09-04T16:22:18","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[0.4276964170277431,0.4173063185051462,0.71338606911949],"aabb_xy":[[0.40478070414269324,0.3944020213687228],[0.45061212991279304,0.4402106156415698]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.24318008762517795,0.8546737126675974,0.71338606911949],"aabb_xy":[[0.2350523994318647,0.8457601042568896],[0.2513077758184912,0.8635873210783049]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.39386381319800323,0.39165231133566625,0.71338606911949],"aabb_xy":[[-0.4002776268411881,0.38524249108799785],[-0.38744999955481824,0.39806213158333453]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[0.0954565068850387,1.3332619509564778,0.71338606911949],"aabb_xy":[[0.070910291262288,1.3030130544074408],[0.12000272250778944,1.3635108475055149]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.4253010830080095,-1.622007676051539,0.71338606911949],"aabb_xy":[[0.3613010858959038,-1.6710400458459496],[0.4893010801201152,-1.5729753062571283]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.5332336907482651,-2.3643060085674876,0.71338606911949],"aabb_xy":[[-0.5426511653181278,-2.373722185705206],[-0.5238162161784023,-2.354889831429768]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[-0.3748537308061134,0.11618048615130627,0.71338606911949],"aabb_xy":[[-0.40731543168804074,0.08604765403640363],[-0.3423920299241858,0.14631331826620886]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.12250950794055493,-0.8293112424372817,0.71338606911949],"aabb_xy":[[0.09211139684141136,-0.8597181444389511],[0.15290761903969852,-0.7989043404356121]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.3928974551650075,-2.191790742602096,0.71338606911949],"aabb_xy":[[0.35830637231096224,-2.2567907428871266],[0.4274885380190527,-2.1267907423170644]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[-0.1630866110847028,0.7266482154760436,0.71338606911949],"aabb_xy":[[-0.19808661098072167,0.7182739799641036],[-0.12808661118868392,0.7350224509879835]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[0.1600516638556675,-2.2192777126661456,0.71338606911949],"aabb_xy":[[0.0700516601787493,-2.2807101192432495],[0.2500516675325856,-2.157845306089041]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[0.20499950983806203,-2.434393838284207,0.71338606911949],"aabb_xy":[[0.12500568625950378,-2.5143938408770485],[0.28499333341662025,-2.3543938356913654]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.10415052226081523,0.7333610355910327,0.71338606911949],"aabb_xy":[[0.09612425163018924,0.7246095406136802],[0.11217679289144124,0.7421125305683854]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[0.017678307996761622,-1.00665833474919,0.71338606911949],"aabb_xy":[[-0.06732169069531302,-1.0386441981440686],[0.10267830668883626,-0.9746724713543109]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.3058471170758111,-0.40113781542006777,0.71338606911949],"aabb_xy":[[-0.36984711566238354,-0.4481447788195765],[-0.24184711848923862,-0.35413085202055905]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.6832559201680048,-1.3707472702198418,0.71338606911949],"aabb_xy":[[0.6758434646266164,-1.3765984806414697],[0.6906683757093933,-1.3648960597982138]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[0.46375970321635207,1.4490574598030252,0.71338606911949],"aabb_xy":[[0.4137597022658192,1.4175083127995036],[0.5137597041668849,1.4806066068065464]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.3009239427327225,-1.6047785363277156,0.71338606911949],"aabb_xy":[[-0.3609239425792893,-1.6615971585207543],[-0.2409239428861557,-1.547959914134677]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.5199319901183115,-0.7813646788922064,0.71338606911949],"aabb_xy":[[0.4699531816079955,-0.8313646788979252],[0.5699107986286273,-0.7313646788864876]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.5242814446914805,0.24694545837118387,0.71338606911949],"aabb_xy":[[0.4602814474058319,0.20543873941833993],[0.5882814419771292,0.28845217732402784]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.4646391965867931,0.8459440869806523,0.71338606911949],"aabb_xy":[[0.40063919517880237,0.7941551354567274],[0.5286391979947836,0.8977330385045769]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[0.11531109662310746,-1.5817094522302908,0.71338606911949],"aabb_xy":[[0.05031109658880473,-1.628410128910618],[0.18031109665741019,-1.5350087755499635]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[-0.19333331612258509,-0.49746049245157575,0.71338606911949],"aabb_xy":[[-0.23083331622817804,-0.5042826543045569],[-0.15583331601699213,-0.49063833059859463]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[-0.41008926694903525,1.25258495707858,0.71338606911949],"aabb_xy":[[-0.452273681109866,1.1885849568013689],[-0.3679048527882045,1.3165849573557913]]}],"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":0.6890620544032543,"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/5928.png","name":"5928"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5928.png","name":"5928"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2254.png","name":"2254"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/413.png","name":"413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2440.png","name":"2440"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9523.png","name":"9523"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":788.5347537218672,"rotation_z_degrees":126.85996201221124,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002781460449486021,-0.0025005641981040924,-0.011298366039941934]},{"name":"camera_2","offset_m":[0.012202278732014269,-0.01717266609072088,0.011464114843229314]},{"name":"camera_3","offset_m":[-0.00038233655600372965,-0.009837612199285228,0.017634305883724572]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001305395914836395,-0.001699496558848681,-0.0007999150813560246],"end_effector_yaw_offset_degrees":0.30944433162530327},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008412094675401957,0.0013202998460760192,0.001799784898275674],"end_effector_yaw_offset_degrees":-0.8057960686439427},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011083319353618949,-0.0006979852485354575,3.880177327715822e-06],"end_effector_yaw_offset_degrees":-0.21124185252365435}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004263349740002676,-0.00015856164871598782],"position_m":[0.3008633497400027,0.36524143835128403,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002181548936275739,0.0023861908676648825],"position_m":[0.26851845106372424,-0.3533138091323351,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00010875113932460635,-0.004935884064350816],"position_m":[0.34380875113932463,0.2601641159356492,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00347400909185969,0.004475811315301695],"position_m":[0.3095259909081403,0.06777581131530169,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1b8420add6dfaec492aa4ea67db2b7dadfe0589bcdbcc5ef392061a11b96e2be","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5928/tex_ceiling_textures_9523/tex_floor_textures_2440/tex_table_textures_2254/tex_wall_textures_413","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6176416027552061312,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6176416027552061312,"visual_seed":6176416027552061312,"scene_id":"lab_003","finished_at":"2026-09-04T16:25:42"} +{"episode_id":"ep_000019","started_at":"2026-09-04T16:25:46","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[-0.17204382219433856,1.048136522834862,0.71338606911949],"aabb_xy":[[-0.18003781077204192,1.0401364427397717],[-0.16404983361663514,1.0561366029299524]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[-0.18665566374905695,-0.9716704805690592,0.71338606911949],"aabb_xy":[[-0.26665566591181944,-1.0516256641952029],[-0.10665566158629444,-0.8917152969429156]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[-0.40121847525654825,-0.4939384747186564,0.71338606911949],"aabb_xy":[[-0.42339100223319903,-0.5161141418747794],[-0.37904594827989735,-0.4717628075625331]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.04206469568144433,0.1674591965752006,0.71338606911949],"aabb_xy":[[-0.07706469395156423,0.1603850688802124],[-0.007064697411324428,0.17453332427018872]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[-0.3886111032974655,1.4266815806632231,0.71338606911949],"aabb_xy":[[-0.4385940534849448,1.3766815810206625],[-0.3386281531099861,1.4766815803057833]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.4594192422400136,0.2755811280908018,0.71338606911949],"aabb_xy":[[-0.5234192414097836,0.22881444097183937],[-0.3954192430702437,0.3223478152097643]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[-0.31567787867510516,0.09334674619889549,0.71338606911949],"aabb_xy":[[-0.3956778773319912,0.0788418872746327],[-0.2356778800182192,0.10785160512315828]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.40537478681995875,1.0673509881129304,0.71338606911949],"aabb_xy":[[-0.4703747894577522,1.0158713894134834],[-0.3403747841821652,1.1188305868123773]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.6185891007683084,-1.2965469755103927,0.71338606911949],"aabb_xy":[[0.5800434079431074,-1.3350927465665814],[0.6571347935935095,-1.258001204454204]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[0.1400292859593747,-2.3480581890665966,0.71338606911949],"aabb_xy":[[0.13191563128599762,-2.3561640055206254],[0.14814294063275182,-2.3399523726125677]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.3411572620128475,-1.5796508325628016,0.71338606911949],"aabb_xy":[[-0.3464948376788521,-1.6046508334919412],[-0.33581968634684295,-1.5546508316336616]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.06082806689861153,-1.2443108469098032,0.71338606911949],"aabb_xy":[[-0.003171933375366691,-1.294376947107091],[0.12482806717258976,-1.194244746712515]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[0.585566394775678,0.8390410294071882,0.71338606911949],"aabb_xy":[[0.5215706973805814,0.7750410311064793],[0.6495620921707745,0.9030410277078966]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[0.3650529112942684,1.5974690932928444,0.71338606911949],"aabb_xy":[[0.31557249008030963,1.5334690953799925],[0.4145333325082272,1.6614690912056962]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.5740924600580686,-0.4822485694960035,0.71338606911949],"aabb_xy":[[0.5241193945255532,-0.5322485693085365],[0.6240655255905841,-0.4322485696834707]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.6748177740825343,-0.23650330550036802,0.71338606911949],"aabb_xy":[[-0.6828611340084895,-0.32150330659573445],[-0.6667744141565791,-0.1515033044050016]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[0.16111977259297738,-1.7224102163876978,0.71338606911949],"aabb_xy":[[0.1382040597079275,-1.7453145135241213],[0.1840354854780273,-1.6995059192512743]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.06527137949746253,-2.063552568879056,0.71338606911949],"aabb_xy":[[-0.11526449160665445,-2.113552569553252],[-0.015278267388270653,-2.0135525682048607]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[0.3646321073130605,0.5994258247879531,0.71338606911949],"aabb_xy":[[0.3006321070525897,0.5544170254350251],[0.4286321075735313,0.6444346241408812]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_19","position":[0.4987041118364881,-2.0121526866885793,0.71338606911949],"aabb_xy":[[0.4840607062824551,-2.0268114063453635],[0.5133475173905211,-1.997493967031795]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.19360267316812863,-1.9220120105156004,0.71338606911949],"aabb_xy":[[-0.2436026744519686,-1.971990864906222],[-0.14360267188428866,-1.872033156124978]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[-0.27640694054181847,0.6205379807608509,0.71338606911949],"aabb_xy":[[-0.30140693981378075,0.6041926171646885],[-0.2514069412698562,0.6368833443570132]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.20446128819195392,-1.656110153917242,0.71338606911949],"aabb_xy":[[-0.24196128898394936,-1.6624779948754322],[-0.16696128739995847,-1.6497423129590518]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_23","position":[0.18829056258165344,-0.7967604704846794,0.71338606911949],"aabb_xy":[[0.14329797586320303,-0.841760469759128],[0.23328314930010385,-0.7517604712102305]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[0.5726781402099543,1.4534736423474288,0.71338606911949],"aabb_xy":[[0.5176849288728176,1.398473642008635],[0.6276713515470911,1.5084736426862224]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[-0.4689477756651782,-1.52205456809349,0.71338606911949],"aabb_xy":[[-0.4814151337749139,-1.5345198927268136],[-0.4564804175554426,-1.5095892434601665]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[0.5009404218320648,-1.4832060945365129,0.71338606911949],"aabb_xy":[[0.4675002466360451,-1.5166497203674425],[0.5343805970280843,-1.4497624687055823]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[0.5325711873460848,0.07425978090720653,0.71338606911949],"aabb_xy":[[0.4625711909361228,0.05382184525552478],[0.6025711837560463,0.09469771655888823]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_28","position":[-0.16954931235937676,-1.47872935402397,0.71338606911949],"aabb_xy":[[-0.19454931229189465,-1.4856120222448934],[-0.14454931242685887,-1.4718466858030468]]}],"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":0.6934333364841091,"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/3411.png","name":"3411"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3411.png","name":"3411"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/619.png","name":"619"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8223.png","name":"8223"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1105.png","name":"1105"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3852.png","name":"3852"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":647.9569060571544,"rotation_z_degrees":290.21465437244115,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012046686681830444,-0.005603825135480741,0.00173771429940104]},{"name":"camera_2","offset_m":[0.018067598250088534,-0.01767557553889205,0.016853305054453687]},{"name":"camera_3","offset_m":[-0.0008793634767615861,-0.0029439038811976924,0.007315809700220121]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016459862074634714,-0.0013757896494849637,0.0005900826995633279],"end_effector_yaw_offset_degrees":-0.5598027500979033},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001890671157688563,-0.0017094886057415742,-0.00022185599256350965],"end_effector_yaw_offset_degrees":-0.511530187892683},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005542772433053769,-0.00029346725758207584,0.00181610037944101],"end_effector_yaw_offset_degrees":0.7002540347797501}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017580606969055945,0.003481348019395681],"position_m":[0.2948419393030944,0.3688813480193957,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[2.6952425520413402e-05,-0.002428397341700075],"position_m":[0.2707269524255204,-0.3581283973417001,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004511468525457563,-0.0037280411948024004],"position_m":[0.3482114685254576,0.2613719588051976,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031604315789366096,0.004912243140571632],"position_m":[0.3161604315789366,0.06821224314057163,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f984bb2ab615395d1489bab9a1e0abd07aa67988c3fc98c5c7b1304cb9a0b26a","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3411/tex_ceiling_textures_3852/tex_floor_textures_1105/tex_table_textures_619/tex_wall_textures_8223","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8652426107056998798,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8652426107056998798,"visual_seed":8652426107056998798,"scene_id":"lab_003","finished_at":"2026-09-04T16:28:51"} +{"episode_id":"ep_000020","started_at":"2026-09-04T16:28:55","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.11960503493780417,-1.906692011279515,0.71338606911949],"aabb_xy":[[0.10527060981164073,-1.9187522268340533],[0.13393946006396762,-1.8946317957249756]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[0.09716854123477758,-2.0695892472125097,0.71338606911949],"aabb_xy":[[0.059668540442782136,-2.0759570881707],[0.13466854202677303,-2.0632214062543195]]},{"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_2","position":[-0.3506242161458118,-1.9703226715239777,0.71338606911949],"aabb_xy":[[-0.40825468503308254,-2.030322670450688],[-0.2929937472585409,-1.9103226725972668]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[0.5938534265503412,-0.1949958205946749,0.71338606911949],"aabb_xy":[[0.513853429390766,-0.20654342155249192],[0.6738534237099165,-0.18344821963685784]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[0.03160002560261799,-1.6707963050121548,0.71338606911949],"aabb_xy":[[-0.002175533588074985,-1.6848348002253195],[0.06537558479331096,-1.6567578097989897]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[0.12066210129244637,-0.863956173274995,0.71338606911949],"aabb_xy":[[0.09819733132104123,-0.8864561741538554],[0.14312687126385149,-0.8414561723961343]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.17084781136999683,1.6392441303311887,0.71338606911949],"aabb_xy":[[-0.21612642625114606,1.575244130983005],[-0.12556919648884754,1.7032441296793723]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[-0.3454223622714936,0.7611495929961185,0.71338606911949],"aabb_xy":[[-0.35626284049800844,0.7439633117054697],[-0.33458188404497863,0.7783358742867673]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.42672255895621114,-0.14422345467766196,0.71338606911949],"aabb_xy":[[-0.44560694272472134,-0.16310937945801474],[-0.40783817518770094,-0.12533752989730917]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.1108224048458839,0.5877159640003358,0.71338606911949],"aabb_xy":[[-0.2008224042642548,0.554340467156146],[-0.020822405427513027,0.6210914608445255]]},{"name":"lh_cell_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_10","position":[-0.1805902916921599,0.7397620402684959,0.71338606911949],"aabb_xy":[[-0.24459029239562927,0.6937436577955749],[-0.11659029098869056,0.785780422741417]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[-0.2951077893370472,-1.569777159017009,0.71338606911949],"aabb_xy":[[-0.3751077879243666,-1.64909276095517],[-0.21510779074972777,-1.4904615570788482]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.6974279680137896,-2.2122761894344385,0.71338606911949],"aabb_xy":[[0.6868604883556907,-2.222821219547447],[0.7079954476718887,-2.20173115932143]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.5469453184671182,-0.5721908027320319,0.71338606911949],"aabb_xy":[[-0.6109453155792238,-0.6212231725264427],[-0.48294532135501245,-0.5231584329376214]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.5900141774309469,-2.0025019090405944,0.71338606911949],"aabb_xy":[[0.5260141760229561,-2.0542908605645187],[0.6540141788389374,-1.9507129575166695]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.5459304608562706,-2.1144370802068813,0.71338606911949],"aabb_xy":[[-0.5567034347776384,-2.1494370784259202],[-0.5351574869349028,-2.0794370819878423]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[0.5347651405526808,-0.4886275039872663,0.71338606911949],"aabb_xy":[[0.526051171502746,-0.5111275046464544],[0.543479109602615,-0.466127503328078]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.5029897784715209,0.9275465091993342,0.71338606911949],"aabb_xy":[[-0.5645805376955138,0.8635465110902875],[-0.4413990192475281,0.9915465073083812]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.0531616837000376,1.6615511367985207,0.71338606911949],"aabb_xy":[[0.015661685124416787,1.6488148411349626],[0.09066168227565839,1.6742874324620785]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[0.6496765660671497,-0.5385809767558634,0.71338606911949],"aabb_xy":[[0.5997032720638891,-0.5885809773104106],[0.69964986007041,-0.4885809762013159]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[-0.45978447656704524,0.07662083032846523,0.71338606911949],"aabb_xy":[[-0.4660965761033837,0.0708538910752464],[-0.4534723770307068,0.08238776958168406]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[0.3924095927465583,-0.9299712777779254,0.71338606911949],"aabb_xy":[[0.3555590448095707,-0.9674712786009593],[0.4292601406835459,-0.8924712769548918]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.02825593797331527,0.4301646547410858,0.71338606911949],"aabb_xy":[[-0.0362494277685973,0.4221665228006102],[-0.020262448178033243,0.4381627866815615]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[-0.10280710608703114,1.4535144458980276,0.71338606911949],"aabb_xy":[[-0.14030710637920596,1.449472970497424],[-0.06530710579485632,1.457555921298631]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[0.035259250046595025,0.8870947139243901,0.71338606911949],"aabb_xy":[[0.0313453768511725,0.8783456985178333],[0.03917312324201755,0.8958437293309469]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_25","position":[0.5430634115025381,-2.523748941141805,0.71338606911949],"aabb_xy":[[0.4930791757943609,-2.5737489399553004],[0.5930476472107153,-2.473748942328309]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_26","position":[0.1415030368024458,0.7147196695308655,0.71338606911949],"aabb_xy":[[0.10500721617516706,0.6782357271041077],[0.17799885742972454,0.7512036119576229]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_27","position":[-0.3854524390147752,-0.39803975492400356,0.71338606911949],"aabb_xy":[[-0.4654524376716612,-0.4125446138482664],[-0.3054524403578892,-0.38353489599974083]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_28","position":[0.1277054388862524,-2.2510142397130717,0.71338606911949],"aabb_xy":[[0.0377054421506422,-2.304197703030366],[0.21770543562186262,-2.197830776395777]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_29","position":[-0.4453062232055282,-1.487291563489534,0.71338606911949],"aabb_xy":[[-0.449009484534667,-1.4909935817982516],[-0.4416029618763893,-1.483589545180816]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[0.2919532611671678,-1.8044638953559997,0.71338606911949],"aabb_xy":[[0.27445326092211836,-1.8219636831955666],[0.30945326141221713,-1.7869641075164329]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_31","position":[-0.587615067384784,-1.8079260922409632,0.71338606911949],"aabb_xy":[[-0.6337001586395155,-1.8719260894935184],[-0.5415299761300525,-1.7439260949884081]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_32","position":[-0.4459201942947247,1.1125976584302126,0.71338606911949],"aabb_xy":[[-0.46342019342909185,1.1027180313926248],[-0.4284201951603575,1.1224772854678005]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_33","position":[-0.009405417325453524,-1.0241589615761002,0.71338606911949],"aabb_xy":[[-0.04440541559557343,-1.0312330892710881],[0.02559458094466638,-1.0170848338811118]]}],"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":0.6927778619894394,"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/3144.png","name":"3144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3144.png","name":"3144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8316.png","name":"8316"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7575.png","name":"7575"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3903.png","name":"3903"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4388.png","name":"4388"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":675.9685593475049,"rotation_z_degrees":162.03047455891402,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010386551490116198,-0.011897708262641622,-0.017806923545547193]},{"name":"camera_2","offset_m":[-0.003892577641011842,-0.013984436851114609,0.0013536489526716627]},{"name":"camera_3","offset_m":[0.01618718370611293,-0.009203062598008533,-0.004072652927250817]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016630606858158488,-0.0010617084452575333,0.0009464472826984567],"end_effector_yaw_offset_degrees":0.6772321273754829},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001038965977589324,-0.0009157660305835415,0.0014745053520157834],"end_effector_yaw_offset_degrees":-0.201307843095468},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00027166542939409464,-0.0006657964627904249,-0.0010373997718988543],"end_effector_yaw_offset_degrees":0.561515794941732}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003543902309899047,-0.001956247005791374],"position_m":[0.2969543902309899,0.3634437529942086,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002596930453110406,0.0031539128441434574],"position_m":[0.2732969304531104,-0.35254608715585656,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008435552263997012,0.002695519471530466],"position_m":[0.3428564447736003,0.26779551947153046,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009010040012273467,-0.0008492669977511582],"position_m":[0.31209899599877267,0.062450733002248834,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9ceb9eedfe6fff3b60c2b9f8ea111f079fe11a62580d41ae1178f1b4667c806e","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0020.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3144/tex_ceiling_textures_4388/tex_floor_textures_3903/tex_table_textures_8316/tex_wall_textures_7575","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6619088131078330924,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6619088131078330924,"visual_seed":6619088131078330924,"scene_id":"lab_003","finished_at":"2026-09-04T16:32:00"} +{"episode_id":"ep_000021","started_at":"2026-09-04T16:32:03","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.15225146995504024,1.0751103152033443,0.71338606911949],"aabb_xy":[[-0.21625147324474833,1.0317753961994265],[-0.08825146666533211,1.1184452342072617]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[-0.5465976024831154,-1.6405685291763745,0.71338606911949],"aabb_xy":[[-0.5965818381912926,-1.69056852798987],[-0.49661336677493817,-1.5905685303628787]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[-0.30069011325112227,0.5991620262612329,0.71338606911949],"aabb_xy":[[-0.36069011350252345,0.5448807012247682],[-0.2406901129997211,0.6534433512976975]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[0.4059992134728512,-2.388050306096478,0.71338606911949],"aabb_xy":[[0.3968393345289745,-2.394581524140015],[0.4151590924167277,-2.3815190880529413]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_4","position":[0.3327729756122315,1.3689951249065708,0.71338606911949],"aabb_xy":[[0.2527791520336733,1.2889951223137293],[0.41276679919078973,1.4489951274994124]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[-0.5779969885834421,0.04363314536345708,0.71338606911949],"aabb_xy":[[-0.611476155844483,0.010154031992350078],[-0.5445178213224011,0.0771122587345641]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[-0.16404450462351627,1.7567835932806806,0.71338606911949],"aabb_xy":[[-0.19650620550544368,1.7266507611657775],[-0.13158280374158876,1.7869164253955827]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.08711734358556666,-2.2341178361263236,0.71338606911949],"aabb_xy":[[0.04961734376853312,-2.238756047437466],[0.12461734340260024,-2.2294796248151822]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[-0.04898146052890451,1.3972814649705705,0.71338606911949],"aabb_xy":[[-0.05702482045485968,1.312281463875204],[-0.040938100602949334,1.482281466065937]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.1703997224391226,-1.357261093121652,0.71338606911949],"aabb_xy":[[-0.2053997216319408,-1.3682281391193143],[-0.13539972324630428,-1.3462940471239893]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.3909283463813363,-2.190872906204491,0.71338606911949],"aabb_xy":[[-0.4084283456594232,-2.208211006270837],[-0.37342834710324946,-2.173534806138145]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.17283791828509787,-2.4130545544544337,0.71338606911949],"aabb_xy":[[-0.22231833949905666,-2.4770545523672856],[-0.12335749707113908,-2.349054556541582]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.15245466910522565,0.8695396306755594,0.71338606911949],"aabb_xy":[[-0.2164546705132163,0.8177506791516346],[-0.08845466769723496,0.921328582199484]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.04028819215624602,-1.344328616100474,0.71338606911949],"aabb_xy":[[-0.0952881913328355,-1.3993182908754316],[0.01471180702034347,-1.2893389413255163]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.604079799491531,1.4435453266136853,0.71338606911949],"aabb_xy":[[0.5849674921335523,1.4244105477364433],[0.62319210684951,1.4626801054909273]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.3549067254269075,0.15997573453945613,0.71338606911949],"aabb_xy":[[-0.3593373547817477,0.15452736280477353],[-0.35047609607206737,0.16542410627413873]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[-0.32324435574440097,-0.9602627768910645,0.71338606911949],"aabb_xy":[[-0.3313720439377142,-0.9691763853017722],[-0.31511666755108775,-0.9513491684803569]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[-0.08079574943260814,-0.7995272417701433,0.71338606911949],"aabb_xy":[[-0.09747288542570363,-0.8162271657440737],[-0.06411861343951263,-0.7828273177962132]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[0.5686001534403833,-0.9631116279196943,0.71338606911949],"aabb_xy":[[0.4886001554595982,-0.9707131688815461],[0.6486001514211682,-0.9555100869578422]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[-0.5414709195100115,1.1579066787973962,0.71338606911949],"aabb_xy":[[-0.5965961251396023,1.097906677356109],[-0.48634571388042075,1.2179066802386833]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[0.38600109372511615,-1.1844766271280724,0.71338606911949],"aabb_xy":[[0.355516843598086,-1.2344766269095684],[0.4164853438521463,-1.1344766273465765]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[-0.5290484681036203,-2.4552475249796837,0.71338606911949],"aabb_xy":[[-0.5523303103017515,-2.5402475262769117],[-0.5057666259054888,-2.3702475236824556]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[0.4559349681144962,-2.0759798896977406,0.71338606911949],"aabb_xy":[[0.3759349711002482,-2.096114441371152],[0.5359349651287442,-2.055845338024329]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_23","position":[0.10048943494296347,-1.6852429603143408,0.71338606911949],"aabb_xy":[[0.06486027904300372,-1.7208756270711936],[0.13611859084292321,-1.6496102935574877]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[0.5581907557105565,-1.859734232080756,0.71338606911949],"aabb_xy":[[0.5331907564385943,-1.8760795956769183],[0.5831907549825188,-1.8433888684845936]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_25","position":[0.2888428954723784,0.88651429240111,0.71338606911949],"aabb_xy":[[0.27561194993769705,0.8732868733791106],[0.30207384100705964,0.8997417114231094]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[-0.4951533012217352,0.36637775429866526,0.71338606911949],"aabb_xy":[[-0.5591532998083076,0.3193707908991565],[-0.4311533026351627,0.4133847176981739]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_27","position":[0.6519013310560922,1.6914810788351278,0.71338606911949],"aabb_xy":[[0.6154055104288134,1.6549971364083702],[0.6883971516833709,1.7279650212618853]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[0.3426165824616072,-1.8467927196516234,0.71338606911949],"aabb_xy":[[0.26261658218800016,-1.9197422674773401],[0.42261658273521413,-1.7738431718259067]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[-0.2625517832513042,-0.8457275424882547,0.71338606911949],"aabb_xy":[[-0.32655178492930154,-0.8942449339675688],[-0.19855178157330683,-0.7972101510089403]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_30","position":[-0.2862990407338235,0.27467120999851735,0.71338606911949],"aabb_xy":[[-0.3212990406298424,0.26629697448657735],[-0.25129904083780463,0.28304544551045724]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_31","position":[0.6313016736490034,0.868482882080599,0.71338606911949],"aabb_xy":[[0.6137233714600565,0.850908392506494],[0.6488799758379502,0.8860573716547038]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_32","position":[-0.013419400645533486,-2.4588403604741527,0.71338606911949],"aabb_xy":[[-0.03864023750537315,-2.4840641113270387],[0.01180143621430618,-2.4336166096212657]]}],"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":0.6948339639686656,"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/4997.png","name":"4997"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4997.png","name":"4997"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2562.png","name":"2562"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7768.png","name":"7768"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7646.png","name":"7646"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1288.png","name":"1288"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":544.9867266775989,"rotation_z_degrees":346.61381045776113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007396022807402654,0.013381431695281828,-0.016358973590853823]},{"name":"camera_2","offset_m":[0.0031313166180387646,-0.01959305625891317,-0.002504517409248525]},{"name":"camera_3","offset_m":[0.014928725334187678,0.011264639587819685,-0.015167081379488252]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00198617283316241,0.0017532093615941647,0.0009578361388330198],"end_effector_yaw_offset_degrees":0.5965668387164715},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001957897640199842,-0.00106217603672042,-0.0008088048320571005],"end_effector_yaw_offset_degrees":0.8373470916150869},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00011165147214855153,0.00034367203608424556,-0.0009723015605905899],"end_effector_yaw_offset_degrees":0.7364354510783493}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010995589394932372,0.0014302177000529003],"position_m":[0.2955004410605067,0.3668302177000529,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014621119456329594,-0.002760539861237834],"position_m":[0.27216211194563295,-0.3584605398612378,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0020408817989862275,0.0020865348895084653],"position_m":[0.3457408817989862,0.26718653488950844,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001407994370048773,-0.001114185199922073],"position_m":[0.3144079943700488,0.06218581480007792,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5be8df26d7fa379088a9669eb7f47042c18d085dc28ca75083093f33c095e8ae","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4997/tex_ceiling_textures_1288/tex_floor_textures_7646/tex_table_textures_2562/tex_wall_textures_7768","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6624314756435019863,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6624314756435019863,"visual_seed":6624314756435019863,"scene_id":"lab_003","finished_at":"2026-09-04T16:35:16"} +{"episode_id":"ep_000022","started_at":"2026-09-04T16:35:19","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.6772695854992098,-0.3358422700692332,0.71338606911949],"aabb_xy":[[-0.6851928657379581,-0.35834227030723653],[-0.6693463052604615,-0.3133422698312298]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[-0.2954415897286034,1.0139837465268906,0.71338606911949],"aabb_xy":[[-0.2988822659686606,1.0101223135525261],[-0.29200091348854623,1.017845179501255]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.4422709803233697,-1.317832537337058,0.71338606911949],"aabb_xy":[[-0.4772709802193886,-1.3262067728489981],[-0.4072709804273508,-1.309458301825118]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[-0.16503823365938852,-0.9076966196762755,0.71338606911949],"aabb_xy":[[-0.2060561770457594,-0.9576966203072328],[-0.12402029027301764,-0.8576966190453181]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[-0.48082971096487165,0.9532532596003764,0.71338606911949],"aabb_xy":[[-0.511227822064015,0.9228463575987067],[-0.45043159986572795,0.9836601616020457]]},{"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_5","position":[0.03189497198036517,1.0502393658569784,0.71338606911949],"aabb_xy":[[0.02260135374321459,1.0127393673688445],[0.04118859021751575,1.0877393643451123]]},{"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_6","position":[0.4015560200664452,-0.8748028084044346,0.71338606911949],"aabb_xy":[[0.37156435733257487,-0.9048028077412351],[0.4315476828003155,-0.844802809067634]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[0.3659541820566343,1.0464383361799028,0.71338606911949],"aabb_xy":[[0.3009541810995071,0.9944901242461973],[0.43095418301376154,1.0983865481136084]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[0.24558759652016193,-2.0790687236050798,0.71338606911949],"aabb_xy":[[0.18058759541421865,-2.104034096673208],[0.3105875976261052,-2.0541033505369515]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.6442331772434191,0.9560480538536664,0.71338606911949],"aabb_xy":[[0.5792331793617714,0.9049243901471256],[0.709233175125067,1.0071717175602073]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[0.5860301688710257,0.4309519966787958,0.71338606911949],"aabb_xy":[[0.5659717572577854,0.41088690976963826],[0.606088580484266,0.45101708358795334]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.08216460432800032,1.4884138962429572,0.71338606911949],"aabb_xy":[[0.07619806538726454,1.4824527515835928],[0.08813114326873611,1.494375040902321]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.12842248270327405,-2.4871705080128073,0.71338606911949],"aabb_xy":[[0.12079821461309584,-2.494803731549351],[0.13604675079345233,-2.4795372844762635]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.5457706722390532,1.1098894903164642,0.71338606911949],"aabb_xy":[[-0.6357706687399248,1.0639778478980058],[-0.45577067573818136,1.1558011327349222]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.6349497674921778,-1.8821109396257498,0.71338606911949],"aabb_xy":[[0.5549497700885843,-1.9621035108239326],[0.7149497648957711,-1.802118368427567]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[0.5705917466789205,-0.006687654220027817,0.71338606911949],"aabb_xy":[[0.5473099044807891,-0.09168765551725587],[0.5938735888770518,0.07831234707720024]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.025708244595134433,-1.5320666475851192,0.71338606911949],"aabb_xy":[[-0.06429175399933551,-1.5483172338985405],[0.11570824318960438,-1.5158160612716984]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.000795797511935814,-2.111206461225401,0.71338606911949],"aabb_xy":[[-0.00661665802945266,-2.117057671647029],[0.008208253053324288,-2.105355250803773]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[0.5592996531063446,-1.1819935107085784,0.71338606911949],"aabb_xy":[[0.4942996545492717,-1.2117460441224608],[0.6242996516634174,-1.1522409772946955]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.6067632320683101,1.374251987237959,0.71338606911949],"aabb_xy":[[-0.686763235326153,1.2942554794459749],[-0.5267632288104671,1.4542484950299428]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[0.21847269786841017,1.0850249406945331,0.71338606911949],"aabb_xy":[[0.2053214518971208,1.0600249409378466],[0.23162394383969953,1.1100249404512197]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[-0.6590644366738686,-2.4119946387137157,0.71338606911949],"aabb_xy":[[-0.6684819112437314,-2.421410815851434],[-0.6496469621040059,-2.4025784615759957]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.3374813352263015,-1.2921888757055169,0.71338606911949],"aabb_xy":[[0.31498133498278613,-1.3043935103652888],[0.3599813354698169,-1.279984241045745]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[0.5876376316879479,-0.8078579936546526,0.71338606911949],"aabb_xy":[[0.5501376313957731,-0.8118994690552562],[0.6251376319801227,-0.803816518254049]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[0.10089447398840601,1.2460789071816523,0.71338606911949],"aabb_xy":[[0.045901262651269266,1.1910789068428587],[0.15588768532554279,1.3010789075204459]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[0.46435138868513515,0.6784830906435069,0.71338606911949],"aabb_xy":[[0.3993513886508325,0.6317824139631796],[0.5293513887194379,0.7251837673238342]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.4421907190165322,1.2262781174790764,0.71338606911949],"aabb_xy":[[0.4372914267099686,1.1986011981765075],[0.4470900113230956,1.253955036781645]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_27","position":[0.5594439483404194,-1.481572426248967,0.71338606911949],"aabb_xy":[[0.5403316409824406,-1.500707205126209],[0.5785562556983983,-1.4624376473717249]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_28","position":[-0.5293501075895272,0.7658378962955839,0.71338606911949],"aabb_xy":[[-0.5531863252301322,0.6758378954870973],[-0.5055138899489221,0.8558378971040703]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_29","position":[0.3203344857706629,-0.7182101626738486,0.71338606911949],"aabb_xy":[[0.25633448255202507,-0.764933274572857],[0.3843344889893008,-0.6714870507748403]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_30","position":[-0.651113427349448,-1.4119158910868772,0.71338606911949],"aabb_xy":[[-0.6794431372979882,-1.4163766332805943],[-0.6227837174009078,-1.4074551488931601]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_31","position":[0.4499046637779407,1.3392343665674562,0.71338606911949],"aabb_xy":[[0.4324047303439573,1.3217343666472214],[0.46740459721192407,1.3567343664876905]]}],"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":0.6924886455479387,"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/7400.png","name":"7400"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7400.png","name":"7400"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/737.png","name":"737"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6563.png","name":"6563"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2450.png","name":"2450"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4495.png","name":"4495"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":662.6116295095344,"rotation_z_degrees":133.89041090908776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008582934801768891,-0.0035004372746549363,-0.008804256645082775]},{"name":"camera_2","offset_m":[-0.0027756901200971656,0.006650503123567915,-0.015048109652527116]},{"name":"camera_3","offset_m":[-0.00980788463258496,-0.019286703572941422,0.0015245542950182052]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006459613656371358,-0.0015428845390002364,0.0016027360816370313],"end_effector_yaw_offset_degrees":0.4123807099588508},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008067486465660801,0.0018326769311079218,0.0006895286048606343],"end_effector_yaw_offset_degrees":0.6674574308241463},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007653436694438271,0.00012273078777744586,0.001373581303329458],"end_effector_yaw_offset_degrees":0.33524739492776656}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010623718811145948,-0.0030800569460465222],"position_m":[0.2955376281188854,0.3623199430539535,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00035861626002520967,-4.2505274760145165e-05],"position_m":[0.2710586162600252,-0.35574250527476015,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0023108561745218393,-0.0013540249231287415],"position_m":[0.3413891438254782,0.26374597507687125,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004354039133465373,-0.0006169974845631077],"position_m":[0.3086459608665346,0.06268300251543689,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f1ec2c10d533fefcae563a20207f5d684e95d61b69fffc0f99658ab7c3c4e880","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0022.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7400/tex_ceiling_textures_4495/tex_floor_textures_2450/tex_table_textures_737/tex_wall_textures_6563","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1425492072163055169,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1425492072163055169,"visual_seed":1425492072163055169,"scene_id":"lab_003","finished_at":"2026-09-04T16:38:22"} +{"episode_id":"ep_000023","started_at":"2026-09-04T16:38:26","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[0.42468540514415887,-0.6438190563508106,0.71338606911949],"aabb_xy":[[0.3912452299481392,-0.6772626821817406],[0.4581255803401784,-0.6103754305198804]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.2558253757602623,-1.6109681477016866,0.71338606911949],"aabb_xy":[[-0.2933253741836626,-1.6241323616695174],[-0.21832537733686191,-1.5978039337338559]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[-0.07063255250014067,-1.089275812878806,0.71338606911949],"aabb_xy":[[-0.12073001648121429,-1.153275813388618],[-0.020535088519067046,-1.0252758123689945]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.610621534194316,-0.412961890382348,0.71338606911949],"aabb_xy":[[-0.6605989510595695,-0.46296189187159653],[-0.5606441173290623,-0.36296188889309944]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[-0.6313542890016828,-2.010225299822707,0.71338606911949],"aabb_xy":[[-0.6656705661763007,-2.0602252997958845],[-0.5970380118270648,-1.960225299849529]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.06577233269080485,1.2002679751184675,0.71338606911949],"aabb_xy":[[0.043272333167097436,1.1777720276678463],[0.08827233221451224,1.2227639225690878]]},{"name":"lh_cell_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_6","position":[-0.44263781409586306,-0.8042272708475322,0.71338606911949],"aabb_xy":[[-0.5066378147993325,-0.8502456533204533],[-0.3786378133923938,-0.7582088883746113]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.5521112119964984,-1.8160437278012371,0.71338606911949],"aabb_xy":[[0.5461446730557626,-1.822004872460601],[0.5580777509372341,-1.8100825831418728]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[0.45132228862797663,1.6179728804169335,0.71338606911949],"aabb_xy":[[0.38732228533826857,1.5746379614130157],[0.5153222919176847,1.661307799420851]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.5551396716754406,-0.7584118546637839,0.71338606911949],"aabb_xy":[[0.47513967451586536,-0.7699594556216008],[0.6351396688350159,-0.7468642537059668]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.39359984514075697,-1.3447774307121463,0.71338606911949],"aabb_xy":[[-0.45759984244310337,-1.3891438576800028],[-0.32959984783841056,-1.3004110037442893]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[-0.4597380004642027,1.6876822433991587,0.71338606911949],"aabb_xy":[[-0.49828369328940375,1.64913647234297],[-0.4211923076390017,1.7262280144553475]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.5071845830991755,0.22018664732976312,0.71338606911949],"aabb_xy":[[-0.5571675332866546,0.1701866476872027],[-0.45720163291169597,0.27018664697232353]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.3297243235951697,-0.3591244251219141,0.71338606911949],"aabb_xy":[[-0.3443677291492026,-0.3737831447786984],[-0.31508091804113664,-0.34446570546512983]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.32221292881568475,-1.3666072269745337,0.71338606911949],"aabb_xy":[[0.31725690863080364,-1.3891072271766554],[0.327168949000566,-1.3441072267724121]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[0.3651803488194547,-2.064572799530449,0.71338606911949],"aabb_xy":[[0.3011803465990477,-2.1089458836557373],[0.42918035103986174,-2.0201997154051607]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[-0.32647414653872087,-2.139901068304753,0.71338606911949],"aabb_xy":[[-0.37175276141987007,-2.2039010676529367],[-0.28119553165757155,-2.0759010689565693]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.3415507081195335,0.6851467122413752,0.71338606911949],"aabb_xy":[[0.3077751489288405,0.6711082170282101],[0.37532626731022645,0.6991852074545402]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[0.22276884124926544,-1.5937295600087273,0.71338606911949],"aabb_xy":[[0.20526890781528204,-1.6112295599289619],[0.24026877468324878,-1.5762295600884928]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.4573529390580233,-0.9289639062585842,0.71338606911949],"aabb_xy":[[0.4074702421803272,-0.9789639055048591],[0.5072356359357195,-0.8789639070123096]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[0.6816626590688069,0.2612628094407463,0.71338606911949],"aabb_xy":[[0.6583808168706755,0.17626280814351827],[0.7049445012669382,0.3462628107379744]]}],"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":0.6936139056433962,"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/6785.png","name":"6785"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6785.png","name":"6785"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1096.png","name":"1096"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7400.png","name":"7400"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4571.png","name":"4571"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8193.png","name":"8193"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":820.8945693701272,"rotation_z_degrees":274.218684298977,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010448090718871365,-0.01194898286048543,0.004001319145497298]},{"name":"camera_2","offset_m":[0.017630183675675763,0.003777629846831356,-0.012788775893374193]},{"name":"camera_3","offset_m":[-0.006931191484702667,-0.0020555499024311925,0.010933808911874988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00021766410951190628,0.0019019653275738732,-0.0018358422245444675],"end_effector_yaw_offset_degrees":-0.25954323439299887},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017252541551010087,0.0014865829164600777,0.000406936598816395],"end_effector_yaw_offset_degrees":-0.07442119454504281},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018320867537994813,0.00041053487446589525,0.0016192482768883367],"end_effector_yaw_offset_degrees":-0.4536350435213774}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017792662805195224,-0.0033299015785961273],"position_m":[0.2948207337194805,0.36207009842140386,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028242652406820943,0.0018969348629124952],"position_m":[0.2735242652406821,-0.35380306513708754,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004360069878696071,0.0003282137681069287],"position_m":[0.3480600698786961,0.26542821376810694,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004134047509730656,-0.0028593538852372427],"position_m":[0.3088659524902693,0.060440646114762756,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"019de1a70d98944eec29caf6bddf69a429123d23af0a1dd91145804de9eae245","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6785/tex_ceiling_textures_8193/tex_floor_textures_4571/tex_table_textures_1096/tex_wall_textures_7400","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5290068862172274506,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5290068862172274506,"visual_seed":5290068862172274506,"scene_id":"lab_003","finished_at":"2026-09-04T16:41:29"} +{"episode_id":"ep_000024","started_at":"2026-09-04T16:41:33","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.2948438145289888,1.6631554051533404,0.71338606911949],"aabb_xy":[[-0.32861937371968175,1.6491169099401752],[-0.2610682553382958,1.677193900366505]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[-0.17958116169057725,-0.4785012419488819,0.71338606911949],"aabb_xy":[[-0.22566625294530873,-0.542501239201437],[-0.13349607043584577,-0.41450124469632676]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.5603902396103198,1.047503803376459,0.71338606911949],"aabb_xy":[[0.5540781400739814,1.0417368641232403],[0.5667023391466581,1.0532707426296781]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.2522003878532846,-2.229704062975274,0.71338606911949],"aabb_xy":[[0.2370375148763475,-2.2448695202703925],[0.26736326083022166,-2.214538605680155]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[0.30855740031790435,1.3498081906873707,0.71338606911949],"aabb_xy":[[0.2894450929599255,1.3306734118101287],[0.3276697076758832,1.3689429695646127]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[0.42027302119074195,1.1927835337837425,0.71338606911949],"aabb_xy":[[0.38978877106371174,1.1427835340022465],[0.45075727131777205,1.2427835335652384]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[-0.5114439377177126,0.47413515123672356,0.71338606911949],"aabb_xy":[[-0.6014439342185842,0.4282235088182653],[-0.42144394121684076,0.5200467936551818]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.13273395316669656,-2.410120601966553,0.71338606911949],"aabb_xy":[[0.12676741422596077,-2.416081746625917],[0.13870049210743235,-2.4041594573071885]]},{"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_8","position":[-0.32129170701797477,-1.3835523025885001,0.71338606911949],"aabb_xy":[[-0.32998966930869006,-1.3956772768959747],[-0.3125937447272595,-1.3714273282810252]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[-0.1890046631778206,1.522415960508407,0.71338606911949],"aabb_xy":[[-0.26900466644183374,1.5088559281994938],[-0.10900465991380748,1.5359759928173204]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[0.701186249001639,0.6224622038759691,0.71338606911949],"aabb_xy":[[0.6786862487581236,0.6102575692161971],[0.7236862492451543,0.634666838535741]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.016153117791678828,-2.0492239550582396,0.71338606911949],"aabb_xy":[[-0.0478468824822994,-2.099290055255527],[0.08015311806565706,-1.9991578548609512]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.46446327689424693,1.412710459150865,0.71338606911949],"aabb_xy":[[0.43331635805066376,1.3427104604640578],[0.49561019573783,1.4827104578376722]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.4285711218987134,0.5694397190262337,0.71338606911949],"aabb_xy":[[0.3942548447240954,0.5194397190530559],[0.46288739907333126,0.6194397189994113]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.3783690724688733,1.7795907865063714,0.71338606911949],"aabb_xy":[[0.3734130522839922,1.75709078630425],[0.3833250926537546,1.8020907867084932]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[-0.14407822821304028,-1.7554315551623252,0.71338606911949],"aabb_xy":[[-0.2340782279362144,-1.7785049076975048],[-0.05407822848986606,-1.7323582026271451]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[-0.08412039303828345,-0.10456623333753745,0.71338606911949],"aabb_xy":[[-0.11912039130840335,-0.11164036103252563],[-0.049120394768163544,-0.0974921056425493]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[0.6372402472545033,-1.155950566903288,0.71338606911949],"aabb_xy":[[0.5732445498594068,-1.2199505652039964],[0.7012359446495999,-1.091950568602579]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.4013255095682906,0.18790743019939304,0.71338606911949],"aabb_xy":[[-0.4653255127869284,0.1411843183003847],[-0.3373255063496527,0.2346305420984014]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.2691083458745737,1.04728588751348,0.71338606911949],"aabb_xy":[[-0.34910834913241673,0.9672893797214961],[-0.18910834261673082,1.127282395305464]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.07015584030800426,-2.2584030722787154,0.71338606911949],"aabb_xy":[[-0.13015584090402044,-2.313215544823939],[-0.01015583971198808,-2.203590599733492]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[-0.34836609134518465,-0.3875355524406574,0.71338606911949],"aabb_xy":[[-0.36151733731647406,-0.41253555219734395],[-0.33521484537389534,-0.3625355526839708]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.2632127753396047,0.869486210279919,0.71338606911949],"aabb_xy":[[-0.27201483064857734,0.8616748841249899],[-0.2544107200306319,0.8772975364348481]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[-0.22843403069767376,-2.0290131335416492,0.71338606911949],"aabb_xy":[[-0.27842904165712584,-2.0790131325772414],[-0.17843901973822177,-1.979013134506058]]}],"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":0.6958459723948592,"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/9727.png","name":"9727"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9727.png","name":"9727"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7670.png","name":"7670"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2692.png","name":"2692"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1067.png","name":"1067"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6508.png","name":"6508"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":701.4422573355761,"rotation_z_degrees":45.376820387067184,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008240491073474642,0.015556203910427831,0.00909580536924991]},{"name":"camera_2","offset_m":[-0.008932076872822457,0.01937007124944259,0.005160084302188787]},{"name":"camera_3","offset_m":[0.011294197113413566,-0.0009438163551862659,0.013136445893410075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007979177236325007,0.0005484739458207826,0.0006055507551731734],"end_effector_yaw_offset_degrees":-0.8448408604463302},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014420940018353375,0.0012452004299353878,-0.0012930257059012029],"end_effector_yaw_offset_degrees":0.46953963026429557},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005874976285280683,0.00011125283438596922,-0.0008890807924941094],"end_effector_yaw_offset_degrees":0.4265179939268755}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036242188089738348,-0.0018395842724539635],"position_m":[0.29297578119102613,0.36356041572754605,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003410407524480143,-0.001480917718663076],"position_m":[0.2741104075244801,-0.3571809177186631,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002109017669935217,-0.00013053354231393546],"position_m":[0.3415909823300648,0.26496946645768604,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007120400297388986,0.0018338590925294322],"position_m":[0.3137120400297389,0.06513385909252943,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"327ee10bc341ca54534e0468099db87c0e8b64981e1b413ac36276751659c9aa","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9727/tex_ceiling_textures_6508/tex_floor_textures_1067/tex_table_textures_7670/tex_wall_textures_2692","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4694625792686664926,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4694625792686664926,"visual_seed":4694625792686664926,"scene_id":"lab_003","finished_at":"2026-09-04T16:44:49"} +{"episode_id":"ep_000025","started_at":"2026-09-04T16:44:52","dimensions":{"distractor":{"count":28,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.5709573664207006,1.6230963720375198,0.71338606911949],"aabb_xy":[[-0.6509573635802758,1.6115487710797025],[-0.4909573692611252,1.6346439729953366]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[0.09934956598041622,-0.6560299126869313,0.71338606911949],"aabb_xy":[[0.03434956487447295,-0.6809952857550596],[0.1643495670863595,-0.631064539618803]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[0.07047941398240043,-1.9626641247223964,0.71338606911949],"aabb_xy":[[0.020596717104704235,-2.012664123968671],[0.12036211086009665,-1.9126641254761219]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[-0.18781002533254065,-0.10984379500287833,0.71338606911949],"aabb_xy":[[-0.2379074893136143,-0.17384379551269014],[-0.13771256135146706,-0.045843794493066525]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[-0.21497394130274072,-1.1546459536871216,0.71338606911949],"aabb_xy":[[-0.27997394230324124,-1.2054323188417966],[-0.14997394030224018,-1.1038595885324467]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[0.10546008947629792,-2.107001677370775,0.71338606911949],"aabb_xy":[[0.09746610089859452,-2.115001757465865],[0.1134540780540013,-2.099001597275684]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[-0.2617757016003579,1.6124054058162938,0.71338606911949],"aabb_xy":[[-0.2867757008723201,1.5960600422201312],[-0.2367757023283956,1.628750769412456]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.45114800773237307,0.9640538439900221,0.71338606911949],"aabb_xy":[[0.41435337460746674,0.92714796889344],[0.4879426408572793,1.0009597190866044]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[0.6136915690549085,1.1835320901786641,0.71338606911949],"aabb_xy":[[0.5637182750516481,1.1335320896241166],[0.663664863058169,1.2335320907332112]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.11654402252963303,-1.543524341163237,0.71338606911949],"aabb_xy":[[-0.16654402419112774,-1.5935227834189394],[-0.06654402086813824,-1.493525898907534]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[-0.38519288010819036,-0.4696963590286014,0.71338606911949],"aabb_xy":[[-0.3984238256428716,-0.48292377805060077],[-0.371961934573509,-0.45646894000660193]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[-0.3985226265286965,-1.499719642032128,0.71338606911949],"aabb_xy":[[-0.4119691531627398,-1.5131894936852188],[-0.38507609989465313,-1.4862497903790366]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.5343689084156031,-0.12930506421103338,0.71338606911949],"aabb_xy":[[0.48436890976968194,-0.17922460787049574],[0.5843689070615243,-0.07938552055157097]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[-0.10732100893212226,0.5417070796863142,0.71338606911949],"aabb_xy":[[-0.17132100532769534,0.4777437912675805],[-0.043321012536549186,0.6056703681050476]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.0695944481500278,1.6233408032444712,0.71338606911949],"aabb_xy":[[0.062333200579620385,1.610553792980962],[0.07685569572043521,1.6361278135079809]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.17272983601982606,0.8330153565224441,0.71338606911949],"aabb_xy":[[0.16859397968712592,0.7955153570780872],[0.1768656923525263,0.8705153559668012]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[-0.1959438602231779,-2.0226652896367336,0.71338606911949],"aabb_xy":[[-0.2411151780713469,-2.086665286781272],[-0.15077254237500892,-1.9586652924921952]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[-0.23513275442543963,-0.4676428051567152,0.71338606911949],"aabb_xy":[[-0.2404652690800526,-0.47296713340195073],[-0.22980023977082664,-0.46231847691147954]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[-0.5793382240263603,0.9882084185986786,0.71338606911949],"aabb_xy":[[-0.6293382234665558,0.9382404941143622],[-0.5293382245861645,1.038176343082995]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[-0.23913534140364096,-0.3122283228439131,0.71338606911949],"aabb_xy":[[-0.26041334954711315,-0.3772283251699861],[-0.21785733326016868,-0.24722832051784]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[-0.20860456254831766,-2.425906984688423,0.71338606911949],"aabb_xy":[[-0.24610456249208407,-2.43420007472326],[-0.17110456260455126,-2.417613894653587]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.30212145638606647,-2.4561930170266963,0.71338606911949],"aabb_xy":[[0.26357576356086543,-2.494738788082885],[0.3406671492112675,-2.4176472459705076]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[0.5168318595804255,-1.748897587503454,0.71338606911949],"aabb_xy":[[0.5039599560794854,-1.8288975879172904],[0.5297037630813657,-1.668897587089618]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.6064015369684632,-0.5504575832015339,0.71338606911949],"aabb_xy":[[0.5414015390868154,-0.6015812469080748],[0.671401534850111,-0.49933391949499306]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_24","position":[-0.5547848677481048,-0.8663185795602284,0.71338606911949],"aabb_xy":[[-0.5916354156850924,-0.9038185803832621],[-0.5179343198111171,-0.8288185787371947]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[0.10286968580948963,-1.080985887916865,0.71338606911949],"aabb_xy":[[0.07958784361135827,-1.1659858892140929],[0.12615152800762094,-0.9959858866196368]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[0.5944504352270199,-1.5665455627291112,0.71338606911949],"aabb_xy":[[0.544471626716704,-1.61654556273483],[0.6444292437373358,-1.5165455627233924]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[0.5866455616799491,-1.3014831754142173,0.71338606911949],"aabb_xy":[[0.5690672594910022,-1.319057664988322],[0.6042238638688959,-1.2839086858401125]]}],"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":0.6903823820667322,"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/2192.png","name":"2192"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2192.png","name":"2192"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6250.png","name":"6250"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6627.png","name":"6627"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6146.png","name":"6146"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7544.png","name":"7544"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":653.4594885072916,"rotation_z_degrees":202.55609366635855,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00045600597749852895,0.014533933078888315,0.018234861221582934]},{"name":"camera_2","offset_m":[0.007490889661869355,-0.01842961546928063,-0.018656837363095084]},{"name":"camera_3","offset_m":[0.01975369585008818,-0.006691341417343399,0.0023503231538857874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006873244263916032,-0.0014720787424162718,-0.0016535509024324666],"end_effector_yaw_offset_degrees":-0.6946367481488307},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006183057677210555,0.0016292994679353032,0.0004539155154925619],"end_effector_yaw_offset_degrees":0.07721712308250361},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001933669659796653,-0.0015794701799162869,6.130533032032599e-06],"end_effector_yaw_offset_degrees":0.9102724170388978}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012689142889585657,-0.002993776636561495],"position_m":[0.2953310857110414,0.36240622336343853,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[1.548831703756734e-06,0.0034724446443219386],"position_m":[0.2707015488317038,-0.35222755535567807,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031628342884276054,0.002848215341020993],"position_m":[0.3468628342884276,0.267948215341021,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001012604756271132,-0.0018259972415152893],"position_m":[0.31198739524372887,0.061474002758484705,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"509c4cd5c526b25433de55f2fd9b02ab4f49b59773545fa7eae22c082c9dd29d","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2192/tex_ceiling_textures_7544/tex_floor_textures_6146/tex_table_textures_6250/tex_wall_textures_6627","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1971117043954888959,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1971117043954888959,"visual_seed":1971117043954888959,"scene_id":"lab_003","finished_at":"2026-09-04T16:47:57"} +{"episode_id":"ep_000026","started_at":"2026-09-04T16:48:00","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.3701611419831403,1.5968212825265575,0.71338606911949],"aabb_xy":[[0.3101611421365735,1.5400026603335186],[0.43016114182970705,1.653639904719596]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[-0.43967328937491074,0.4908048726552523,0.71338606911949],"aabb_xy":[[-0.4771732893186771,0.48251178262041566],[-0.4021732894311443,0.4990979626900888]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[-0.07109097004637399,-0.17768234611128042,0.71338606911949],"aabb_xy":[[-0.13109097090718677,-0.22910877611776678],[-0.011090969185561182,-0.126255916104794]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[-0.15447916532708217,0.23615174237741066,0.71338606911949],"aabb_xy":[[-0.17197916460516904,0.2188136423110647],[-0.1369791660489953,0.2534898424437566]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[-0.37581678591162737,0.9762887797243498,0.71338606911949],"aabb_xy":[[-0.39831678592177566,0.9621925600847465],[-0.3533167859014791,0.9903849993639531]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.5851476728455305,0.2661090489136684,0.71338606911949],"aabb_xy":[[0.5781062218947829,0.25908229717587383],[0.5921891237962781,0.2731358006514629]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.4594051848573508,-0.5859428189296239,0.71338606911949],"aabb_xy":[[0.36940518252333177,-0.6634251735147365],[0.5494051871913699,-0.5084604643445112]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[0.6381056603003052,0.04546575598982017,0.71338606911949],"aabb_xy":[[0.5886252390863466,-0.018534241923031658],[0.6875860815142641,0.10946575390267199]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[-0.14560350355016083,-1.588324734965115,0.71338606911949],"aabb_xy":[[-0.1571724842970974,-1.613324735082047],[-0.13403452280322425,-1.5633247348481836]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.4055643488402061,1.1886982549422624,0.71338606911949],"aabb_xy":[[0.3826486359551563,1.1657939578058392],[0.4284800617252561,1.2116025520786862]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[-0.6342735531837415,0.7898800172901952,0.71338606911949],"aabb_xy":[[-0.6513756311421096,0.7727732117589254],[-0.6171714752253733,0.8069868228214649]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[-0.058810436994879645,-1.503547305474941,0.71338606911949],"aabb_xy":[[-0.06815744457717487,-1.517850927692585],[-0.049463429412584414,-1.4892436832572968]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[-0.22451018945737927,0.5671654200481338,0.71338606911949],"aabb_xy":[[-0.23507766911547828,0.5566203899351252],[-0.21394270979928026,0.5777104501611423]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.1068453654349405,1.1343016154168146,0.71338606911949],"aabb_xy":[[-0.17084536460471042,1.087534928297852],[-0.04284536626517054,1.1810683025357769]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.21802822280534873,0.7347641031189545,0.71338606911949],"aabb_xy":[[-0.2631995406535177,0.670764105974416],[-0.17285690495717976,0.798764100263493]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.4943071428485166,1.313401956854329,0.71338606911949],"aabb_xy":[[-0.5643071392584783,1.2929640212026468],[-0.42430714643855477,1.3338398925060102]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[0.584347281932128,1.0493784596532958,0.71338606911949],"aabb_xy":[[0.5724751989206269,0.9643784599596452],[0.5962193649436291,1.134378459346946]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[-0.6161155245108729,1.5203666184812694,0.71338606911949],"aabb_xy":[[-0.654661217336074,1.4818208474250805],[-0.5775698316856719,1.558912389537458]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[-0.44689344870707715,1.1483572559558164,0.71338606911949],"aabb_xy":[[-0.5368934484302512,1.1252839034206363],[-0.3568934489839029,1.171430608490996]]},{"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_19","position":[-0.3457169709003208,0.31518901783338293,0.71338606911949],"aabb_xy":[[-0.3550105891374713,0.277689019345249],[-0.33642335266317014,0.3526890163215168]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[0.4679159308884482,-2.3362215332107374,0.71338606911949],"aabb_xy":[[0.45714295696708035,-2.3712215314297764],[0.4786889048098159,-2.3012215349916985]]}],"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":0.6912884053493605,"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/9290.png","name":"9290"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9290.png","name":"9290"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7876.png","name":"7876"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7950.png","name":"7950"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6091.png","name":"6091"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8614.png","name":"8614"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":608.0655280751192,"rotation_z_degrees":197.7321897299785,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01983477724027832,-0.00033005698818922014,-0.005982724529236897]},{"name":"camera_2","offset_m":[-0.018641293039355335,-0.004504018430214973,-0.008123701420165058]},{"name":"camera_3","offset_m":[-0.00018232876697130834,-0.017403022100226217,-0.014341171074824608]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010992543420957662,5.716830217291583e-05,0.0004026667814380166],"end_effector_yaw_offset_degrees":-0.40197594434401585},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00029674224152131034,0.00016471903473192417,-0.0008411463134229814],"end_effector_yaw_offset_degrees":-0.6156747099695401},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004105271297383606,-0.001425859533631274,-6.712791417009438e-05],"end_effector_yaw_offset_degrees":-0.48422717793440273}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00244603431949694,0.0017289851454469077],"position_m":[0.2990460343194969,0.3671289851454469,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022563693368982075,-0.0020600342834672437],"position_m":[0.2684436306631018,-0.35776003428346725,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002524339061943115,-0.004344156782196546],"position_m":[0.3462243390619431,0.26075584321780343,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016421413808516117,-0.0035376217514588894],"position_m":[0.3113578586191484,0.05976237824854111,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ef6b241e4c20d40f135d191fc7a3813386e87d241c6256e3a029fd716698b1c","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9290/tex_ceiling_textures_8614/tex_floor_textures_6091/tex_table_textures_7876/tex_wall_textures_7950","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4703046022834601973,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4703046022834601973,"visual_seed":4703046022834601973,"scene_id":"lab_003","finished_at":"2026-09-04T16:50:58"} +{"episode_id":"ep_000027","started_at":"2026-09-04T16:51:01","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.5293697851581982,-1.0246446248125927,0.71338606911949],"aabb_xy":[[0.49436978602824255,-1.0303898458882566],[0.5643697842881539,-1.0188994037369283]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[-0.1376739451531983,1.2098234556389147,0.71338606911949],"aabb_xy":[[-0.1532297145634636,1.1942730223945077],[-0.12211817574293307,1.225373888883322]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.2018375253996405,0.14918946658558863,0.71338606911949],"aabb_xy":[[-0.2518375240455617,0.09926992292612624],[-0.1518375267537193,0.199109010245051]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.084239849114077,-0.03762053894700168,0.71338606911949],"aabb_xy":[[-0.09548490468469484,-0.04886233667109696],[-0.07299479354345917,-0.0263787412229064]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[0.1792312233967409,-2.449191407083302,0.71338606911949],"aabb_xy":[[0.17326468445600512,-2.4551525517426662],[0.1851977623374767,-2.443230262423938]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.4758933295448554,1.4012661587231574,0.71338606911949],"aabb_xy":[[-0.4799714874519051,1.397185178474894],[-0.4718151716378056,1.4053471389714207]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.588013040490421,0.9871522860960944,0.71338606911949],"aabb_xy":[[-0.6230130388011164,0.9794372711725488],[-0.5530130421797255,0.99486730101964]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[0.4632373563276606,-2.035077741003177,0.71338606911949],"aabb_xy":[[0.3832373591680853,-2.046625341960994],[0.5432373534872359,-2.02353014004536]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[-0.29593660165673547,-2.276464650354552,0.71338606911949],"aabb_xy":[[-0.35593660216458833,-2.3333113840404733],[-0.2359366011488825,-2.2196179166686303]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[0.3087399296167095,-1.8244931778901603,0.71338606911949],"aabb_xy":[[0.24473993318938764,-1.871662801712257],[0.37273992604403144,-1.777323554068064]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[-0.22303131983968943,1.7665044875861589,0.71338606911949],"aabb_xy":[[-0.28703132218249094,1.7215636363420264],[-0.15903131749688787,1.8114453388302914]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.4357951574253407,-1.2679378107177643,0.71338606911949],"aabb_xy":[[-0.47079515732135957,-1.2763120462297044],[-0.4007951575293218,-1.2595635752058243]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.08514629056122003,-0.7862911861209985,0.71338606911949],"aabb_xy":[[-0.1076462905713683,-0.8003874057606017],[-0.06264629055107172,-0.7721949664813952]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[0.06744969540060786,0.77033156018833,0.71338606911949],"aabb_xy":[[0.04527716842395702,0.7481558930322068],[0.0896222223772587,0.792507227344453]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.1456936280323855,-1.2415405418712184,0.71338606911949],"aabb_xy":[[-0.21569363066897185,-1.2616454068670837],[-0.07569362539579916,-1.2214356768753527]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[-0.07269344075373319,-0.9686371481516922,0.71338606911949],"aabb_xy":[[-0.10700971792835112,-1.0186371481248697],[-0.03837716357911525,-0.9186371481785144]]},{"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_16","position":[0.05095362813664717,-0.6525665632655193,0.71338606911949],"aabb_xy":[[0.04225566584593188,-0.664691537572994],[0.05965159042736246,-0.6404415889580446]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[0.19287484516272446,-2.0448405481207708,0.71338606911949],"aabb_xy":[[0.122874843353979,-2.066194316884958],[0.2628748469714699,-2.0234867793565834]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.6459209204661569,0.33234901940091843,0.71338606911949],"aabb_xy":[[-0.6872254635298928,0.26834901983280135],[-0.6046163774024208,0.3963490189690355]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.5623671432053425,-2.530877501584652,0.71338606911949],"aabb_xy":[[0.5579365138505025,-2.536325873319335],[0.5667977725601828,-2.52542912984997]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.6538047510268066,-0.3064182899475454,0.71338606911949],"aabb_xy":[[-0.6653737317737431,-0.33141829006447715],[-0.64223577027987,-0.28141828983061373]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[0.1869969034992086,-1.4458176136431296,0.71338606911949],"aabb_xy":[[0.12299690621355999,-1.4873243325959737],[0.25099690078485726,-1.4043108946902858]]}],"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":0.6875626742364204,"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/5807.png","name":"5807"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5807.png","name":"5807"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8471.png","name":"8471"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1986.png","name":"1986"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9092.png","name":"9092"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5569.png","name":"5569"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":706.3305933501567,"rotation_z_degrees":356.0043375199975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00836076868442761,0.006575128456334171,0.017117742859154492]},{"name":"camera_2","offset_m":[0.008379140867177604,0.01760330286366307,-0.009951600908446228]},{"name":"camera_3","offset_m":[-0.01304180896717996,0.009891394962878653,-0.014808162024448892]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005599748079041051,0.0018945167312843284,-0.0015775884220008308],"end_effector_yaw_offset_degrees":-0.8180313193045305},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016646483755398415,0.0014121177117130254,0.001975615498696754],"end_effector_yaw_offset_degrees":-0.7098868657376367},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004651202437346985,0.0019522646793617452,-0.0005566532067990523],"end_effector_yaw_offset_degrees":-0.15417087635055005}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006644427351623662,-0.003165737105040576],"position_m":[0.29726444273516234,0.3622342628949594,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036965261310860876,0.0027740246686366746],"position_m":[0.26700347386891393,-0.35292597533136333,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0048839815230523375,-0.0007666949486895714],"position_m":[0.34858398152305237,0.2643333050513104,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[9.414876902283723e-05,-0.004412240677530233],"position_m":[0.31309414876902286,0.058887759322469764,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3e2406cecd8399ab1bd63e65c7ca3cd987c5a50c70e9cde89342d5a27ba42af5","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0027.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5807/tex_ceiling_textures_5569/tex_floor_textures_9092/tex_table_textures_8471/tex_wall_textures_1986","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2109831107607638779,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2109831107607638779,"visual_seed":2109831107607638779,"scene_id":"lab_003","finished_at":"2026-09-04T16:54:10"} +{"episode_id":"ep_000028","started_at":"2026-09-04T16:54:15","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[0.08452747430733631,-1.7322014013647933,0.71338606911949],"aabb_xy":[[0.020527474046865498,-1.777210200717721],[0.1485274745678071,-1.687192602011865]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[0.20716599716505724,-1.388170656140521,0.71338606911949],"aabb_xy":[[0.16966599637306176,-1.394538497098711],[0.24466599795705266,-1.381802815182331]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[0.6064560345194225,0.794111548248638,0.71338606911949],"aabb_xy":[[0.5264560334463022,0.7843335019112535],[0.6864560355925429,0.8038895945860224]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.39519706141141775,-1.4036767020582817,0.71338606911949],"aabb_xy":[[0.345197061971222,-1.4536446265425977],[0.44519706085161326,-1.3537087775739651]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.10980711867548121,1.6366463907110131,0.71338606911949],"aabb_xy":[[-0.14665766661246882,1.5991463898879792],[-0.0729565707384936,1.6741463915340467]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.6571239103655422,-1.095553728547957,0.71338606911949],"aabb_xy":[[0.6342081974804923,-1.1184580256843808],[0.6800396232505921,-1.0726494314115338]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.12508595357453933,-1.4603114803716162,0.71338606911949],"aabb_xy":[[0.08758595328236451,-1.4643529557722195],[0.16258595386671415,-1.4562700049710124]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.408540485445192,-0.09795392013536164,0.71338606911949],"aabb_xy":[[-0.442316044635885,-0.11199241534852665],[-0.37476492625449903,-0.0839154249221966]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.11639248827239068,-1.6170171053769322,0.71338606911949],"aabb_xy":[[-0.15372376479763333,-1.6516701601717847],[-0.07906121174714807,-1.5823640505820802]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.023878935182775396,-1.126062615914203,0.71338606911949],"aabb_xy":[[-0.0878789316100973,-1.1732322397362998],[0.04012106124454651,-1.0788929920921069]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.4858134917139989,-0.2809946681755813,0.71338606911949],"aabb_xy":[[0.44064217386583004,-0.34499466532011974],[0.530984809562168,-0.21699467103104292]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.24315223013653897,1.3250001283552306,0.71338606911949],"aabb_xy":[[-0.2781522314880207,1.3046403923984098],[-0.20815222878505726,1.3453598643120515]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[0.6881418673532511,-0.19186646153587095,0.71338606911949],"aabb_xy":[[0.6645567438893563,-0.25686646378130273],[0.711726990817146,-0.1268664592904392]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.08957371099207556,1.4847977029181476,0.71338606911949],"aabb_xy":[[-0.13059165437844644,1.4347977022871905],[-0.04855576760570468,1.5347977035491052]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[0.06557758770348421,-2.4888396980849694,0.71338606911949],"aabb_xy":[[0.03126131052886627,-2.538839698058147],[0.09989386487810215,-2.4388396981117917]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[-0.29885932885789,1.8115115371373052,0.71338606911949],"aabb_xy":[[-0.31474382212321517,1.797158596838481],[-0.28297483559256487,1.825864477436129]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[0.46283446181999777,0.7704475937559647,0.71338606911949],"aabb_xy":[[0.4547208071466206,0.7623417773019355],[0.4709481164933748,0.7785534102099937]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.29262083246531145,0.8776297058318954,0.71338606911949],"aabb_xy":[[0.24481466485154274,0.8126297031248363],[0.34042700007908006,0.9426297085389542]]},{"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_18","position":[-0.39404663457857136,-1.9619479962078523,0.71338606911949],"aabb_xy":[[-0.42403829731244164,-1.9919479955446526],[-0.364054971844701,-1.9319479968710516]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.12722008196083312,-1.592033717810129,0.71338606911949],"aabb_xy":[[0.11461738282375666,-1.6046291140349944],[0.13982278109790958,-1.5794383215852634]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_20","position":[-0.21423648571863885,-1.3589891909982452,0.71338606911949],"aabb_xy":[[-0.27423648556520563,-1.415807813191284],[-0.15423648587207206,-1.3021705688052065]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[-0.4541859632734723,-1.8682802580205988,0.71338606911949],"aabb_xy":[[-0.4581464470432068,-1.8759481226061192],[-0.450225479503738,-1.860612393435078]]}],"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":0.6881675018829415,"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/8531.png","name":"8531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8531.png","name":"8531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6445.png","name":"6445"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7374.png","name":"7374"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4490.png","name":"4490"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8209.png","name":"8209"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":586.3113945542552,"rotation_z_degrees":94.08040017306772,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016138181898440147,-0.018220530899455568,0.017186821895232556]},{"name":"camera_2","offset_m":[-0.019835010587779693,0.008356059470204413,-0.00099189887139408]},{"name":"camera_3","offset_m":[0.006640594168665331,0.016824419391692057,-0.002064554394281725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014685719805314452,-0.000536961119320405,0.0008615731252968541],"end_effector_yaw_offset_degrees":-0.04929219601595625},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001043846461460744,-5.147821770002097e-05,-0.0006564034367260553],"end_effector_yaw_offset_degrees":-0.8361541901504939},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007879773014937922,-0.0004416816205082884,-0.0016343164897317003],"end_effector_yaw_offset_degrees":-0.008337014018718003}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021276954161680564,0.00013892756476480226],"position_m":[0.29447230458383195,0.3655389275647648,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004326611044990824,0.0005493590822899215],"position_m":[0.26637338895500917,-0.3551506409177101,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036966782862404837,0.0009400489020288385],"position_m":[0.3400033217137595,0.2660400489020288,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014628327729954618,0.003976664345646788],"position_m":[0.31153716722700453,0.06727666434564679,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c64d568fdf539973238a7becf0afd9b07233fd60ba2845aa99d83ca897910163","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8531/tex_ceiling_textures_8209/tex_floor_textures_4490/tex_table_textures_6445/tex_wall_textures_7374","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5263604712079116727,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5263604712079116727,"visual_seed":5263604712079116727,"scene_id":"lab_003","finished_at":"2026-09-04T16:57:26"} +{"episode_id":"ep_000029","started_at":"2026-09-04T16:57:29","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.17591472961347565,-1.4181744180086089,0.71338606911949],"aabb_xy":[[-0.23088845164980853,-1.4731744175728423],[-0.12094100757714277,-1.363174418444376]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[-0.6071052106798153,-0.33652188601250455,0.71338606911949],"aabb_xy":[[-0.6271636222930554,-0.3565869729216621],[-0.5870467990665749,-0.316456799103347]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[-0.49111313019585257,-1.9376239292785695,0.71338606911949],"aabb_xy":[[-0.5054475553220159,-1.9496841448331084],[-0.47677870506968906,-1.9255637137240307]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[0.5514981053851524,1.5860660846921113,0.71338606911949],"aabb_xy":[[0.5139981045931569,1.579698243733921],[0.5889981061771478,1.5924339256503015]]},{"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_4","position":[0.37575713739219974,-0.9020873038509991,0.71338606911949],"aabb_xy":[[0.36705917510148445,-0.9142122781584738],[0.3844550996829151,-0.8899623295435244]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.6309797735250378,0.5949424557341976,0.71338606911949],"aabb_xy":[[0.6194107927781012,0.5699424556172659],[0.6425487542719743,0.6199424558511293]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[0.0007671109184392844,-1.3857915994034014,0.71338606911949],"aabb_xy":[[-0.03656416560680334,-1.4204446541982536],[0.03809838744368191,-1.351138544608549]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[-0.4138686638328959,1.3620580760151468,0.71338606911949],"aabb_xy":[[-0.4202824774760808,1.355648255767478],[-0.4074548501897109,1.3684678962628147]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[-0.32427524688404163,1.5113775313008593,0.71338606911949],"aabb_xy":[[-0.4042752440436169,1.4998299303430422],[-0.24427524972446635,1.5229251322586763]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.6453839085643536,-0.7217149846886464,0.71338606911949],"aabb_xy":[[-0.6828839088565284,-0.7257564600892501],[-0.6078839082721788,-0.7176735092880429]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.3829631524641155,-2.2105769959834265,0.71338606911949],"aabb_xy":[[-0.44696314957622124,-2.259609365777837],[-0.31896315535200986,-2.161544626189016]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[0.32466106552675367,-1.6726529838173754,0.71338606911949],"aabb_xy":[[0.3181594290187491,-1.6824208058436851],[0.33116270203475834,-1.6628851617910656]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[-0.24644373848073187,-2.00092571580241,0.71338606911949],"aabb_xy":[[-0.29642254699104775,-2.0509257158081287],[-0.19646492997041598,-1.950925715796691]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[-0.0832554135700686,0.7368329043779802,0.71338606911949],"aabb_xy":[[-0.13307219303490336,0.6868329058936767],[-0.033438634105233844,0.7868329028622835]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[-0.12776497150944333,0.47089197668416194,0.71338606911949],"aabb_xy":[[-0.17775808361863524,0.4208919760099664],[-0.07777185940025146,0.5208919773583577]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[-0.12663758552981286,0.34544377712544927,0.71338606911949],"aabb_xy":[[-0.14910235550121795,0.32294377624658877],[-0.10417281555840771,0.3679437780043098]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.609592411355151,-1.5303113192372997,0.71338606911949],"aabb_xy":[[-0.632508124240201,-1.5532156163737234],[-0.5866766984701012,-1.5074070221008764]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[-0.005476442182798413,0.9253330769941743,0.71338606911949],"aabb_xy":[[-0.01740917654462648,0.912950924186315],[0.006456292179029655,0.9377152298020337]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.6233584993977356,-2.111819791312265,0.71338606911949],"aabb_xy":[[-0.6483584993302535,-2.1187024595331883],[-0.5983584994652177,-2.104937123091342]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[0.515521636892381,-0.9112684330626895,0.71338606911949],"aabb_xy":[[0.48305993601045333,-0.9414012651775918],[0.5479833377743082,-0.8811356009477866]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[0.5005835989506817,0.30725935712526375,0.71338606911949],"aabb_xy":[[0.49525108429606873,0.3019350288800282],[0.5059161136052948,0.3125836853704994]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[0.27612063828319167,1.6777567293858895,0.71338606911949],"aabb_xy":[[0.21212064099754302,1.6362500104330455],[0.3401206355688403,1.7192634483387335]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.5662164045303051,-0.1546919609473898,0.71338606911949],"aabb_xy":[[0.5437164042867898,-0.16689659560716175],[0.5887164047738206,-0.14248732628761784]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.5835298928299811,-0.9755739164302237,0.71338606911949],"aabb_xy":[[-0.5907736588762265,-1.055573914633826],[-0.5762861267837358,-0.8955739182266214]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.21963272864171396,-1.17713306467446,0.71338606911949],"aabb_xy":[[-0.2746282064623733,-1.2321330661083667],[-0.16463725082105454,-1.1221330632405528]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[-0.5360110007995789,0.04376568757983623,0.71338606911949],"aabb_xy":[[-0.5518954940649039,0.029412747281012175],[-0.5201265075342536,0.05811862787866029]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_26","position":[0.6034755430877887,1.1869774221270086,0.71338606911949],"aabb_xy":[[0.5394755437936205,1.1229912817581544],[0.6674755423819569,1.2509635624958628]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[-0.3716920579310579,-1.3176224473187745,0.71338606911949],"aabb_xy":[[-0.4016596148408835,-1.3476224476166603],[-0.3417245010212322,-1.2876224470208888]]}],"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":0.6867179800756659,"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/1878.png","name":"1878"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1878.png","name":"1878"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5780.png","name":"5780"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5082.png","name":"5082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5278.png","name":"5278"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4845.png","name":"4845"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":513.5226531315244,"rotation_z_degrees":151.3117937274977,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018740433534685196,-0.009371275584670786,0.0005836271982411108]},{"name":"camera_2","offset_m":[0.00743318440407446,-0.018298421301631854,-0.009555912738917162]},{"name":"camera_3","offset_m":[-0.003262291828988576,-0.011175904045323284,-0.012936781489533335]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006926655698328212,-0.0009305523092119441,-0.0013401794095062075],"end_effector_yaw_offset_degrees":-0.9876934745149872},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007530856330173067,-0.0017194356655823514,-0.0001252550680277489],"end_effector_yaw_offset_degrees":0.8980124980195991},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008385313965583907,0.001656299742577771,0.001286496444698913],"end_effector_yaw_offset_degrees":0.29839329152969185}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002394707283283528,0.0007208709721142591],"position_m":[0.2989947072832835,0.36612087097211427,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003982031235788138,0.003943310230622552],"position_m":[0.26671796876421183,-0.35175668976937746,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036187924566544955,-0.0025969765914745702],"position_m":[0.3473187924566545,0.26250302340852544,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004745409684808699,-0.00011568187822906008],"position_m":[0.3082545903151913,0.06318431812177093,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"166fcad86dc8157fa38b3ac7fc532eb40cfc0173f49ec02ef7052bd3726a6588","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1878/tex_ceiling_textures_4845/tex_floor_textures_5278/tex_table_textures_5780/tex_wall_textures_5082","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":7505093232216740220,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":7505093232216740220,"visual_seed":7505093232216740220,"scene_id":"lab_003","finished_at":"2026-09-04T17:00:39"} +{"episode_id":"ep_000030","started_at":"2026-09-04T17:00:43","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.6212543862450501,1.002902650870542,0.71338606911949],"aabb_xy":[[-0.6712543879065448,0.9529042086148395],[-0.5712543845835553,1.0529010931262448]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.6335765731391911,-1.1554050089691856,0.71338606911949],"aabb_xy":[[0.611080151705327,-1.177905008775933],[0.6560729945730552,-1.1329050091624382]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.31659873056549553,-0.08866267000423367,0.71338606911949],"aabb_xy":[[-0.35106120857858325,-0.09532634718715649],[-0.2821362525524077,-0.08199899282131085]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.39020032522966075,-1.8416064166229384,0.71338606911949],"aabb_xy":[[-0.42520032354035614,-1.8493214315464837],[-0.35520032691896525,-1.8338914016993924]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.28626924022057376,-2.293857911778374,0.71338606911949],"aabb_xy":[[0.27748801307333754,-2.3026376590669044],[0.29505046736781,-2.285078164489844]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.318730515622371,-1.1707225510657406,0.71338606911949],"aabb_xy":[[0.29581480273732114,-1.1936268482021641],[0.34164622850742093,-1.1478182539293171]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[0.2294411706001801,-1.7473530955896464,0.71338606911949],"aabb_xy":[[0.19194117049458714,-1.7541752574426273],[0.26694117070577306,-1.740530933736665]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.1119840430994693,-1.9966351492378271,0.71338606911949],"aabb_xy":[[-0.12631846822563272,-2.0086953647923655],[-0.09764961797330582,-1.984574933683288]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.30651507438678327,-1.458353074728426,0.71338606911949],"aabb_xy":[[-0.38651507654954576,-1.5383082583545695],[-0.22651507222402079,-1.3783978911022823]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.05100832631313057,-1.585874151565217,0.71338606911949],"aabb_xy":[[0.028508325801089966,-1.6083660099306154],[0.07350832682517117,-1.5633822931998187]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.27548122353817533,-0.2698455316153696,0.71338606911949],"aabb_xy":[[-0.32545864040342887,-0.3198455331046181],[-0.22550380667292172,-0.21984553012612104]]},{"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_11","position":[-0.610079569903493,0.8148540114232437,0.71338606911949],"aabb_xy":[[-0.6193731881406435,0.7773540129351098],[-0.6007859516663423,0.8523540099113776]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.6536616706511422,1.1367702867120681,0.71338606911949],"aabb_xy":[[-0.6840597817502857,1.1063633847103986],[-0.6232635595519985,1.1671771887137377]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[-0.07661760788853611,0.6007055518058717,0.71338606911949],"aabb_xy":[[-0.1416176088456633,0.5487573398721661],[-0.011617606931408895,0.6526537637395773]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.01703287393521824,0.41724005991658597,0.71338606911949],"aabb_xy":[[-0.024074324885965837,0.4102133081787914],[-0.009991422984470644,0.4242668116543805]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[0.2627355777060576,-2.1333003706261637,0.71338606911949],"aabb_xy":[[0.2460584417129621,-2.150000294600094],[0.2794127136991531,-2.1166004466522335]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.5638743153956385,-0.5218567410569763,0.71338606911949],"aabb_xy":[[-0.5981905925702564,-0.571856741030154],[-0.5295580382210205,-0.4718567410837986]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.4258769818541983,1.3923297202521239,0.71338606911949],"aabb_xy":[[-0.4477856639935493,1.370429053432033],[-0.4039682997148472,1.4142303870722144]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[-0.08223539975672756,-1.689870854642625,0.71338606911949],"aabb_xy":[[-0.1372286110938643,-1.744870854981419],[-0.0272421884195908,-1.6348708543038317]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[0.5649479706274103,0.4055793910264991,0.71338606911949],"aabb_xy":[[0.5049479707808434,0.34876076883346036],[0.624947970473977,0.4623980132195377]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[0.6706599872053753,-1.7068057742092826,0.71338606911949],"aabb_xy":[[0.6361976398072333,-1.741299656607105],[0.7051223346035169,-1.6723118918114597]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.15294196033337493,-1.240296829775038,0.71338606911949],"aabb_xy":[[0.1397907143620856,-1.2652968295317246],[0.16609320630466431,-1.2152968300183515]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.09359176341940101,0.8761832567568173,0.71338606911949],"aabb_xy":[[-0.16359175982936275,0.8557453211051353],[-0.023591767009439196,0.8966211924084988]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[0.15438415539351735,1.7401145184743272,0.71338606911949],"aabb_xy":[[0.1238999052664872,1.690114518692831],[0.1848684055205475,1.790114518255823]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.13595378906307187,1.381183601450021,0.71338606911949],"aabb_xy":[[-0.14672676298443965,1.3461836032309822],[-0.1251808151417041,1.4161835996690602]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[-0.17218203682348965,-1.5232958601896638,0.71338606911949],"aabb_xy":[[-0.17751455147810263,-1.5286201884348993],[-0.16684952216887666,-1.5179715319444282]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_26","position":[-0.6141952287680993,-0.10832237285348212,0.71338606911949],"aabb_xy":[[-0.6188303439203325,-0.11218970793063077],[-0.6095601136158658,-0.10445503777633347]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[0.5505352477789669,-1.9721661772442043,0.71338606911949],"aabb_xy":[[0.539290192208349,-1.9834079749682991],[0.5617803033495846,-1.9609243795201086]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[-0.43146733536735765,1.2250232225146416,0.71338606911949],"aabb_xy":[[-0.44393469347709336,1.212557897881318],[-0.41899997725762206,1.237488547147965]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_29","position":[0.4039780126009773,-0.9126790772491242,0.71338606911949],"aabb_xy":[[0.33997800931126915,-0.9560139962530417],[0.4679780158906854,-0.8693441582452065]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_30","position":[-0.23867547056366661,-2.0015285516495522,0.71338606911949],"aabb_xy":[[-0.2447124835643314,-2.0075552527185008],[-0.23263845756300194,-1.9955018505806046]]},{"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_31","position":[-0.41619688443669517,-2.1989335783709136,0.71338606911949],"aabb_xy":[[-0.5011968828541185,-2.2838078738331986],[-0.33119688601927194,-2.1140592829086287]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_32","position":[-0.3394482444242289,-1.0585407914744962,0.71338606911949],"aabb_xy":[[-0.34748457912551367,-1.0665789107789128],[-0.331411909722944,-1.0505026721700792]]},{"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_33","position":[0.6431547635169488,0.20655210419658854,0.71338606911949],"aabb_xy":[[0.6056547633450768,0.17385136881368132],[0.6806547636888207,0.2392528395794957]]}],"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":0.6962596827395943,"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/3717.png","name":"3717"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3717.png","name":"3717"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2356.png","name":"2356"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9803.png","name":"9803"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7885.png","name":"7885"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8265.png","name":"8265"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":787.0826167526178,"rotation_z_degrees":57.04010459234704,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010252842006778735,-0.005849631440199255,-0.008461106681933504]},{"name":"camera_2","offset_m":[-0.007524940559000371,0.001790384587893823,0.008942444768329977]},{"name":"camera_3","offset_m":[-0.011263845753077036,-0.0013626715968085637,0.013141068961219558]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012131113222304591,-0.0005583440969654299,-0.0006409103429396441],"end_effector_yaw_offset_degrees":0.14945961359745463},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00030680462216669353,0.0016043259532161694,-0.0014049685706908925],"end_effector_yaw_offset_degrees":0.5294412899974859},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017926136504398693,-0.001664863948909055,-0.0004526409542988227],"end_effector_yaw_offset_degrees":-0.11562090310438089}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017461085737247029,0.003032091643144697],"position_m":[0.2983461085737247,0.3684320916431447,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004844355875697692,0.00011671944613616397],"position_m":[0.2755443558756977,-0.35558328055386385,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035624541463700555,-0.0037210489889914792],"position_m":[0.3472624541463701,0.2613789510110085,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004679122616039176,0.004426170031142855],"position_m":[0.3176791226160392,0.06772617003114285,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4d28377ab9bfbca97457d1695056a5cec8486408f7208032ee408574442aa0f6","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3717/tex_ceiling_textures_8265/tex_floor_textures_7885/tex_table_textures_2356/tex_wall_textures_9803","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8843788264274093625,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8843788264274093625,"visual_seed":8843788264274093625,"scene_id":"lab_003","finished_at":"2026-09-04T17:03:49"} +{"episode_id":"ep_000031","started_at":"2026-09-04T17:03:52","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[-0.5484041881170554,-1.8797111335565995,0.71338606911949],"aabb_xy":[[-0.6033996659377148,-1.934711134990506],[-0.493408710296396,-1.824711132122692]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[-0.4806639060455914,-2.3131174951940205,0.71338606911949],"aabb_xy":[[-0.5456639070460918,-2.3639038603486955],[-0.4156639050450908,-2.2623311300393456]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.40282195534066106,-0.2964023274585177,0.71338606911949],"aabb_xy":[[-0.4928219550638352,-0.31947567999369747],[-0.3128219556174868,-0.2733289749233378]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[0.4864247247003939,-2.122752727587905,0.71338606911949],"aabb_xy":[[0.4782101795847098,-2.1314293178855457],[0.49463926981607775,-2.114076137290263]]},{"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_4","position":[0.3858922762071677,1.0679496812588165,0.71338606911949],"aabb_xy":[[0.37659865797001707,1.0304496827706826],[0.39518589444431823,1.1054496797469504]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[0.4831673410983528,0.6004318370710613,0.71338606911949],"aabb_xy":[[0.42817412976121616,0.5454318367322677],[0.5381605524354897,0.6554318374098549]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.5834461354960193,-1.2732896334660866,0.71338606911949],"aabb_xy":[[-0.6169253027570603,-1.3067687468371934],[-0.5499669682349784,-1.2398105200949794]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.22456939197522896,-0.8013646931279685,0.71338606911949],"aabb_xy":[[-0.2620693931600217,-0.8057829158240291],[-0.18706939079043614,-0.796946470431908]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[0.6507374139606863,-0.33006747792378066,0.71338606911949],"aabb_xy":[[0.6224077040121461,-0.3345282201174977],[0.6790671239092265,-0.3256067357300636]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[0.4729714814958226,1.4532101075063264,0.71338606911949],"aabb_xy":[[0.4089714782061144,1.4098751885024088],[0.5369714847855306,1.496545026510244]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[-0.47378433420003313,-1.740826060335959,0.71338606911949],"aabb_xy":[[-0.48435181385813214,-1.7513710904489677],[-0.4632168545419341,-1.7302810302229505]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.028565257085908735,-1.5917641772459938,0.71338606911949],"aabb_xy":[[-0.09256525899825108,-1.6476753265040045],[0.0354347448264336,-1.5358530279879836]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[0.07206827161110385,-0.7151931849224096,0.71338606911949],"aabb_xy":[[0.02207326065165183,-0.7651931839580014],[0.1220632825705559,-0.6651931858868179]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.2821136333900113,1.531701485913176,0.71338606911949],"aabb_xy":[[0.2733115780810385,1.5238901597582466],[0.29091568869898393,1.5395128120681048]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.40213743734146273,-1.774817916946164,0.71338606911949],"aabb_xy":[[-0.4196374364758298,-1.7846975439837518],[-0.38463743820709545,-1.7649382899085762]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[-0.10758214759152784,-1.2845170799503416,0.71338606911949],"aabb_xy":[[-0.15757525970071973,-1.3345170806245372],[-0.05758903548233596,-1.234517079276146]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[-0.24189330911677226,-1.4645623167882051,0.71338606911949],"aabb_xy":[[-0.3218933093903792,-1.5375118646139219],[-0.16189330884316527,-1.3916127689624884]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.24594544490177622,0.748858061234849,0.71338606911949],"aabb_xy":[[-0.2539717155324022,0.7401065662574964],[-0.23791917427115022,0.7576095562122016]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.5278390828300084,-2.2824044883078174,0.71338606911949],"aabb_xy":[[0.5015502585095676,-2.308675921962468],[0.5541279071504489,-2.2561330546531657]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[0.08127192354125534,-1.8696430921995921,0.71338606911949],"aabb_xy":[[0.06377199010727197,-1.887143092119827],[0.09877185697523871,-1.8521430922793578]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[-0.6560707776435776,-0.5879647981682392,0.71338606911949],"aabb_xy":[[-0.6812916145034171,-0.6131885490211257],[-0.6308499407837378,-0.5627410473153522]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[-0.027707440444086684,-0.8613776288623844,0.71338606911949],"aabb_xy":[[-0.042870313421023765,-0.8765430861575034],[-0.012544567467149603,-0.8462121715672659]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[0.16394368441336804,1.374890013587907,0.71338606911949],"aabb_xy":[[0.08022145891328558,1.2848900100532112],[0.2476659099134505,1.4648900171226031]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[-0.059354504019052845,0.3752268425180718,0.71338606911949],"aabb_xy":[[-0.1046331189002021,0.31122684316988813],[-0.014075889137903586,0.4392268418662555]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[0.5207897478518393,-0.6861867607519376,0.71338606911949],"aabb_xy":[[0.5100167739304715,-0.7211867589709766],[0.5315627217732071,-0.6511867625328986]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[0.43415600417913414,-0.649385600532641,0.71338606911949],"aabb_xy":[[0.4171459068890835,-0.665520089030915],[0.4511661014691848,-0.6332511120343671]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[-0.002052273364968382,-2.538866914737278,0.71338606911949],"aabb_xy":[[-0.019598968281087314,-2.5763669163015286],[0.01549442155115055,-2.5013669131730265]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_27","position":[0.5467865566752577,-0.23196493277606978,0.71338606911949],"aabb_xy":[[0.48178655664095493,-0.27866560945639707],[0.6117865567095604,-0.1852642560957425]]}],"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":0.6910070074323342,"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/5465.png","name":"5465"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5465.png","name":"5465"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7976.png","name":"7976"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2348.png","name":"2348"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4751.png","name":"4751"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8450.png","name":"8450"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":598.2879865276484,"rotation_z_degrees":134.8982650461976,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004869860860382155,0.017974972275086726,-0.0158825241381108]},{"name":"camera_2","offset_m":[0.000856325612137096,0.014110569028848354,0.017623856561914477]},{"name":"camera_3","offset_m":[0.00814281269819015,-0.00509794197505729,-0.019501275955928148]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011217908536305127,-0.0011794792349051932,-0.0010164843229239504],"end_effector_yaw_offset_degrees":0.7277006170519609},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001842782107059336,0.0009408177228865627,0.0005559449822148494],"end_effector_yaw_offset_degrees":-0.8587379924937604},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007570246348221894,0.00016662603084541738,-0.0010513074353378884],"end_effector_yaw_offset_degrees":-0.1058187217165627}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[6.221953061618518e-05,-0.002258437267656923],"position_m":[0.29666221953061617,0.3631415627323431,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003697462858516168,-0.003891432981690557],"position_m":[0.2670025371414838,-0.35959143298169055,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004313481986874895,-0.002902188564056977],"position_m":[0.33938651801312514,0.262197811435943,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002343911115087063,-0.004505758523957569],"position_m":[0.3153439111150871,0.058794241476042425,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7bae3cf062eb90aa4f1416c53fbdddc74e125c4da63bfc242aa004d6a11a61a2","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5465/tex_ceiling_textures_8450/tex_floor_textures_4751/tex_table_textures_7976/tex_wall_textures_2348","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2164471265191278865,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2164471265191278865,"visual_seed":2164471265191278865,"scene_id":"lab_003","finished_at":"2026-09-04T17:06:54"} +{"episode_id":"ep_000032","started_at":"2026-09-04T17:06:57","dimensions":{"distractor":{"count":26,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.3769566842889484,-1.3789882527047725,0.71338606911949],"aabb_xy":[[-0.3848799645276968,-1.401488252942776],[-0.36903340405020013,-1.3564882524667692]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[0.401050085193426,0.8760795951433638,0.71338606911949],"aabb_xy":[[0.347034488911526,0.8120795922511065],[0.455065681475326,0.9400795980356208]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[-0.35636123462972097,-0.4715966517255459,0.71338606911949],"aabb_xy":[[-0.37403686521831925,-0.4892768680049485],[-0.3386856040411226,-0.453916435446143]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.3847108087374118,-2.3968498655107804,0.71338606911949],"aabb_xy":[[-0.4220420852626544,-2.4315029203056326],[-0.3473795322121692,-2.362196810715928]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.517743623218635,-0.706231518398337,0.71338606911949],"aabb_xy":[[-0.5677436245024748,-0.756210372788959],[-0.46774362193479496,-0.6562526640077148]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.5004368873326769,-1.1150506109149287,0.71338606911949],"aabb_xy":[[-0.5226094143093277,-1.137226278071052],[-0.47826436035602604,-1.0928749437588055]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[0.5068269721076966,-1.2802697331671355,0.71338606911949],"aabb_xy":[[0.4718269707562149,-1.3006294691239562],[0.5418269734591783,-1.2599099972103145]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[0.5618834168884017,-1.8302799740403155,0.71338606911949],"aabb_xy":[[0.47816119138831925,-1.9202799775750115],[0.6456056423884842,-1.7402799705056196]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.6573321824824878,-2.5110511757092384,0.71338606911949],"aabb_xy":[[0.6187864896572868,-2.549596946765427],[0.6958778753076889,-2.4725054046530497]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.3282606256980203,0.6461858368402407,0.71338606911949],"aabb_xy":[[-0.3483190373112605,0.6261207499310831],[-0.30820221408477994,0.6662509237493982]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.09487360362757002,0.8188147569269324,0.71338606911949],"aabb_xy":[[0.09079544572052028,0.8147337766786691],[0.09895176153461976,0.8228957371751957]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[0.5772414193680955,-0.01756440618847943,0.71338606911949],"aabb_xy":[[0.5699591029914317,-0.10756440979798841],[0.584523735744759,0.07243559742102955]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[-0.3858502155998881,-2.022253203275931,0.71338606911949],"aabb_xy":[[-0.45585021740863346,-2.043606972040118],[-0.3158502137911426,-2.0008994345117435]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.42734252552612784,-1.5456851482008218,0.71338606911949],"aabb_xy":[[0.4154704425146267,-1.6306851478944722],[0.43921460853762895,-1.4606851485071715]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[0.5896135725992204,-0.41654055270587387,0.71338606911949],"aabb_xy":[[0.5246135725649177,-0.46324122938620116],[0.6546135726335232,-0.3698398760255466]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[-0.027785207774244536,-1.4578445061880039,0.71338606911949],"aabb_xy":[[-0.09778520990567408,-1.4806064718136995],[0.042214794357185004,-1.4350825405623082]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[-0.50960799503068,1.0654661985216909,0.71338606911949],"aabb_xy":[[-0.5746079935877527,1.0357136651078083],[-0.44460799647360705,1.0952187319355735]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.018131971328883334,-2.2330057299500585,0.71338606911949],"aabb_xy":[[-0.05186803130770301,-2.2531105949459236],[0.08813197396546968,-2.2129008649541926]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[-0.49052273427817006,-0.07053564963392844,0.71338606911949],"aabb_xy":[[-0.5376521132800056,-0.1345356506783304],[-0.4433933552763342,-0.006535648589526488]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[-0.011161872967187958,1.6496689036012042,0.71338606911949],"aabb_xy":[[-0.03745069728762861,1.623397469946553],[0.015126951353252703,1.6759403372558555]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[-0.6210388124952348,-1.3950786824870038,0.71338606911949],"aabb_xy":[[-0.6259381048017983,-1.4227556017895724],[-0.6161395201886714,-1.3674017631844348]]},{"name":"lh_cell_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_21","position":[0.3052224294772521,-2.0453398513031207,0.71338606911949],"aabb_xy":[[0.2412224287737828,-2.0913582337760417],[0.3692224301807215,-1.9993214688301997]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.5204964110075496,0.7563617831699729,0.71338606911949],"aabb_xy":[[0.5049406415972845,0.7408113499255657],[0.536052180417815,0.7719122164143802]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[-0.6220982847802587,1.36447904775835,0.71338606911949],"aabb_xy":[[-0.6412105921382376,1.345344268881108],[-0.6029859774222799,1.383613826635592]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.5095951956317541,-2.5696402389678883,0.71338606911949],"aabb_xy":[[-0.5470951964237496,-2.5760080799260785],[-0.4720951948397587,-2.563272398009698]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[0.2509801052494838,-1.0085729263993521,0.71338606911949],"aabb_xy":[[0.17098010659259777,-1.0230777853236148],[0.3309801039063698,-0.9940680674750894]]}],"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":0.6920428489119664,"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/4826.png","name":"4826"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4826.png","name":"4826"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/595.png","name":"595"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7515.png","name":"7515"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3051.png","name":"3051"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6371.png","name":"6371"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":589.9313394280287,"rotation_z_degrees":100.49832434186044,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01704739640031366,0.013180465703833726,9.387417544118662e-05]},{"name":"camera_2","offset_m":[0.0016330061591777294,0.008007549066440342,-0.019638103219790832]},{"name":"camera_3","offset_m":[0.0024531401836403385,0.01613329242267943,-0.01926676980715517]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013720656641797136,0.001074987667183786,-0.0013241175746895547],"end_effector_yaw_offset_degrees":-0.653537948611993},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001712185598131815,-0.0012660968650403772,0.0019947030562584107],"end_effector_yaw_offset_degrees":0.7239979981028393},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006875027862718046,0.00022041839054187705,-0.0009269377150912649],"end_effector_yaw_offset_degrees":-0.008248703999446994}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036181250795256263,0.00037559805505302506],"position_m":[0.3002181250795256,0.36577559805505305,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007218644291914333,-0.0009766120302325187],"position_m":[0.2699781355708086,-0.35667661203023254,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0025534343871348986,-0.0005343400647994934],"position_m":[0.3411465656128651,0.26456565993520054,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004186966556224389,0.001629605377808133],"position_m":[0.3171869665562244,0.06492960537780813,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2219a550c1db0c6f8d1cec3fa42866ddf44e442ce0a969ad5373a04bc6c65a8e","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0032.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4826/tex_ceiling_textures_6371/tex_floor_textures_3051/tex_table_textures_595/tex_wall_textures_7515","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6107675342853210642,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6107675342853210642,"visual_seed":6107675342853210642,"scene_id":"lab_003","finished_at":"2026-09-04T17:09:57"} +{"episode_id":"ep_000033","started_at":"2026-09-04T17:10:00","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[0.11516628770523796,1.3900481377150484,0.71338606911949],"aabb_xy":[[0.10982871203923342,1.3650481367859089],[0.12050386337124255,1.4150481386441884]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[0.6092405249376576,1.3540762845195453,0.71338606911949],"aabb_xy":[[0.5717405237528647,1.3496580618234844],[0.6467405261224503,1.3584945072156054]]},{"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_2","position":[0.34631963873133165,-2.120462752699663,0.71338606911949],"aabb_xy":[[0.3163279759974613,-2.1504627520364634],[0.376311301465202,-2.0904627533628624]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[0.02171915376844835,1.520210568907228,0.71338606911949],"aabb_xy":[[0.009251795658712706,1.5077452442739046],[0.034186511878184,1.5326758935405516]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.11127227377360716,-2.2786709075012492,0.71338606911949],"aabb_xy":[[0.06179185255964838,-2.342670905414101],[0.16075269498756595,-2.2146709095883974]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.4271600928681183,1.368581523740871,0.71338606911949],"aabb_xy":[[0.3371600942736483,1.3523309374274501],[0.5171600914625882,1.3848321100542922]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.2636966663846709,-0.14626834718808457,0.71338606911949],"aabb_xy":[[-0.33369666902125716,-0.16637321218395004],[-0.19369666374808447,-0.12616348219221904]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.7093293592927437,-1.4805188195596992,0.71338606911949],"aabb_xy":[[0.7013030886621178,-1.4892703145370518],[0.7173556299233698,-1.4717673245823466]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.2621781544209258,0.683122226363206,0.71338606911949],"aabb_xy":[[-0.3271781544552286,0.6364215496828787],[-0.19717815438662312,0.7298229030435333]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.25653730782485773,-1.6807448407638865,0.71338606911949],"aabb_xy":[[-0.2711807133788907,-1.6954035604206705],[-0.24189390227082475,-1.666086121107102]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.6209889260723206,1.5869778594040782,0.71338606911949],"aabb_xy":[[-0.63414017204361,1.561977859647392],[-0.6078376801010312,1.6119778591607652]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.15434929805927056,-1.8206074158625123,0.71338606911949],"aabb_xy":[[-0.166951997196347,-1.8332028120873778],[-0.1417465989221941,-1.8080120196376468]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[-0.3293883028533381,0.2043393749155813,0.71338606911949],"aabb_xy":[[-0.3668883012767384,0.19117516094775067],[-0.2918883044299377,0.21750358888341192]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.2793719944500137,-1.6011940357845753,0.71338606911949],"aabb_xy":[[0.2381231834200989,-1.6561940352967923],[0.32062080547992833,-1.5461940362723574]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.2750395719903175,-0.8226707414217755,0.71338606911949],"aabb_xy":[[0.21103957340374496,-0.8696777048212843],[0.3390395705768899,-0.7756637780222668]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[-0.10008860762981797,-1.2251220913930199,0.71338606911949],"aabb_xy":[[-0.11699934006615977,-1.2385942969856343],[-0.0831778751934762,-1.2116498858004054]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[-0.36193195473178097,1.5916312591012862,0.71338606911949],"aabb_xy":[[-0.42593195184388666,1.5425988893068756],[-0.2979319576196753,1.6406636288956968]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.3755218417215307,-0.6257273485252317,0.71338606911949],"aabb_xy":[[0.33802184314590983,-0.6384636441887896],[0.41302184029715144,-0.6129910528616738]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.5637931484669805,-2.4157554812301525,0.71338606911949],"aabb_xy":[[0.5437347368537402,-2.43582056813931],[0.5838515600802208,-2.395690394320995]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[-0.34228608588276876,-0.7773740140049077,0.71338606911949],"aabb_xy":[[-0.3772860850127244,-0.7831192350805717],[-0.3072860867528131,-0.7716287929292435]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[-0.2229872219989456,-1.543975779493166,0.71338606911949],"aabb_xy":[[-0.26907231325367703,-1.607975776745721],[-0.1769021307442141,-1.4799757822406108]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[-0.4750213764502661,-1.0626733070107293,0.71338606911949],"aabb_xy":[[-0.48695411081209417,-1.0750554598185889],[-0.46308864208843803,-1.0502911542028701]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.33907046333609586,-2.2079825843731826,0.71338606911949],"aabb_xy":[[-0.3470639531313779,-2.2159807163136587],[-0.33107697354081383,-2.1999844524327075]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_23","position":[-0.5478024885113766,-2.389646223245647,0.71338606911949],"aabb_xy":[[-0.5710843307095079,-2.4746462245428744],[-0.5245206463132452,-2.3046462219484183]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_24","position":[-0.03666046897211639,0.9055312890085059,0.71338606911949],"aabb_xy":[[-0.10066046539943829,0.8583616651864096],[0.027339527455205508,0.9527009128306024]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_25","position":[-0.1493783893671522,1.4576008441334252,0.71338606911949],"aabb_xy":[[-0.17187838889085957,1.435104896682804],[-0.12687838984344477,1.4800967915840455]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_26","position":[0.5905581789343557,-1.4089032961734094,0.71338606911949],"aabb_xy":[[0.5555581806236601,-1.4166183110969548],[0.625558177245051,-1.4011882812498635]]}],"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":0.6865879565461813,"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/131.png","name":"131"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/131.png","name":"131"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5782.png","name":"5782"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4485.png","name":"4485"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6119.png","name":"6119"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1887.png","name":"1887"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":715.826164054112,"rotation_z_degrees":11.23695143360421,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001039166962204633,-0.004448283288482577,-0.017910182331734283]},{"name":"camera_2","offset_m":[-0.005953593503109178,-0.0022648923454346784,0.017354177394684266]},{"name":"camera_3","offset_m":[0.014777022428399896,0.01235422186267603,-0.007696063451383805]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018792891662461923,-0.0013029481966406516,-0.0019907440032278395],"end_effector_yaw_offset_degrees":0.7096700499350488},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016693216184408258,0.0018443758122347977,-0.0013658671680922474],"end_effector_yaw_offset_degrees":-0.02782721782337716},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001957645221387955,-0.0008806119407349922,0.0010521035779636426],"end_effector_yaw_offset_degrees":0.8566210140863093}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004698152583494338,-0.0021218271049726943],"position_m":[0.29190184741650566,0.3632781728950273,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003979273962084046,0.004201837327411186],"position_m":[0.26672072603791597,-0.3514981626725888,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00496967120816556,0.0032129423860991413],"position_m":[0.33873032879183446,0.26831294238609915,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001164943903199188,-0.00040021557403392607],"position_m":[0.3118350560968008,0.06289978442596607,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"30c69cfea23bb1b33aae8b1fd1caf45927886d71eba34d79e393ae03e1df13d6","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0033.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_131/tex_ceiling_textures_1887/tex_floor_textures_6119/tex_table_textures_5782/tex_wall_textures_4485","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1289989804392843573,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1289989804392843573,"visual_seed":1289989804392843573,"scene_id":"lab_003","finished_at":"2026-09-04T17:13:01"} +{"episode_id":"ep_000034","started_at":"2026-09-04T17:13:05","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[-0.6497499085811382,-0.9385383292469918,0.71338606911949],"aabb_xy":[[-0.6722146785525432,-0.9610383301258523],[-0.627285138609733,-0.9160383283681313]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[-0.19626364953987713,-0.2865741935621555,0.71338606911949],"aabb_xy":[[-0.24126365100610597,-0.3315740504236362],[-0.15126364807364825,-0.24157433670067485]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.5248743177748263,-1.9626473586692061,0.71338606911949],"aabb_xy":[[0.5178328668240787,-1.969674110407001],[0.5319157687255739,-1.9556206069314117]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[0.5842640880176799,-0.7924626168510727,0.71338606911949],"aabb_xy":[[0.5597178723949292,-0.8227115134001096],[0.6088103036404307,-0.7622137203020355]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[-0.13886610548478462,-0.838697841106772,0.71338606911949],"aabb_xy":[[-0.18886610714627936,-0.8886962833624746],[-0.08886610382328984,-0.7886993988510692]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.023100561311449552,1.27453199166952,0.71338606911949],"aabb_xy":[[0.019397299982310677,1.270829973360802],[0.026803822640588414,1.2782340099782374]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[-0.5168471472190944,-1.6776954515738425,0.71338606911949],"aabb_xy":[[-0.5581516902828304,-1.7416954511419596],[-0.47554260415535843,-1.6136954520057254]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.09760843953938558,0.800191652131895,0.71338606911949],"aabb_xy":[[-0.13138399873007856,0.7861531569187301],[-0.0638328803486926,0.8142301473450602]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.5425525780820762,-1.5023582013729442,0.71338606911949],"aabb_xy":[[-0.5925525775222719,-1.5523261258572603],[-0.4925525786418806,-1.4523902768886277]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[-0.6465045016754521,-1.1817991856998031,0.71338606911949],"aabb_xy":[[-0.6690045011991594,-1.2042951331504235],[-0.6240045021517446,-1.159303238249182]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.06617467190813808,-1.9919376687491799,0.71338606911949],"aabb_xy":[[-0.11617467055405928,-2.041857212408642],[-0.016174673262216888,-1.9420181250897175]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[0.3823607419565025,-1.8103842056205932,0.71338606911949],"aabb_xy":[[0.32736074233475665,-1.865367898408066],[0.43736074157824834,-1.7554005128331205]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.32023266232532266,1.5525161255855013,0.71338606911949],"aabb_xy":[[-0.37023266268588867,1.5025361383758982],[-0.27023266196475654,1.602496112795104]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[0.5995707265102177,-0.6895258457932945,0.71338606911949],"aabb_xy":[[0.5819924243212707,-0.7071003353673994],[0.6171490286991644,-0.6719513562191896]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.37031741192258427,0.42280792711407456,0.71338606911949],"aabb_xy":[[0.3525239049876679,0.40500818151827694],[0.38811091885750076,0.4406076727098723]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[-0.5140538768112749,-0.7407517989801824,0.71338606911949],"aabb_xy":[[-0.5315538770563242,-0.7582515868197491],[-0.49655387656622546,-0.7232520111406154]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[-0.41931476112323135,-0.33623026546058377,0.71338606911949],"aabb_xy":[[-0.4543147624747131,-0.3565900014174046],[-0.3843147597717496,-0.31587052950376293]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[0.5552218541435741,-0.13410607931418372,0.71338606911949],"aabb_xy":[[0.5327218541334258,-0.14820229895378698],[0.5777218541537223,-0.12000985967458042]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[-0.006131511360428221,1.3533157057899237,0.71338606911949],"aabb_xy":[[-0.04363150978382857,1.3401514918220927],[0.03136848706297213,1.3664799197577542]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[0.2150836564264672,0.6112871526626451,0.71338606911949],"aabb_xy":[[0.19380564828299496,0.546287150336572],[0.23636166456993946,0.6762871549887182]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[-0.08796497892610389,-1.0988024213976566,0.71338606911949],"aabb_xy":[[-0.13794378743641977,-1.1488024214033754],[-0.037986170415788,-1.0488024213919378]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.40724763548130416,-2.2591064672519443,0.71338606911949],"aabb_xy":[[0.36974763537571115,-2.2659286291049248],[0.44474763558689706,-2.252284305398963]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.2298490811918959,0.17530945216998317,0.71338606911949],"aabb_xy":[[-0.2938490803616658,0.1285427650510207],[-0.16584908202212595,0.22207613928894565]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[0.1937779857982318,1.5055713090227543,0.71338606911949],"aabb_xy":[[0.1297779837484998,1.4654768259334463],[0.2577779878479638,1.5456657921120622]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[-0.02374891664960288,-0.9012686283070648,0.71338606911949],"aabb_xy":[[-0.031031233026266532,-0.9912686319165736],[-0.01646660027293922,-0.8112686246975556]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[-0.08702737972311869,-0.7353413928696511,0.71338606911949],"aabb_xy":[[-0.1245273800152935,-0.7393828682702548],[-0.04952737943094386,-0.7312999174690475]]}],"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":0.6902673490679282,"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/6147.png","name":"6147"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6147.png","name":"6147"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3354.png","name":"3354"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8859.png","name":"8859"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2910.png","name":"2910"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5301.png","name":"5301"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":524.7951508234429,"rotation_z_degrees":219.00720447253525,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012188207895582361,0.01990578475757517,-0.010890459055372798]},{"name":"camera_2","offset_m":[-0.002114233496911977,0.006316538500527651,-0.01610394655239758]},{"name":"camera_3","offset_m":[-0.017441790459444603,0.0023917046044097043,-0.005281982279602953]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013400879033042394,6.396363975606084e-05,0.0016705378066997419],"end_effector_yaw_offset_degrees":-0.5292408133264539},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00066494699628253,0.0014751981731533441,-0.00163559051902628],"end_effector_yaw_offset_degrees":-0.48129128639744523},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000522536714570839,0.001453838576273111,0.0015582767020043604],"end_effector_yaw_offset_degrees":-0.3268327846950869}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001313104050370253,-0.002754217354441113],"position_m":[0.2952868959496297,0.3626457826455589,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001610731900895731,0.0009924764413022577],"position_m":[0.2690892680991043,-0.3547075235586978,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035049527119289875,-0.0020190449259992484],"position_m":[0.34720495271192897,0.26308095507400076,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002462728721812385,0.0012603411095468264],"position_m":[0.31546272872181236,0.06456034110954682,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a1c329cfadab6f683de1f1590f64a8f1169fe25e4dc4d96b43e44af1a790343e","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6147/tex_ceiling_textures_5301/tex_floor_textures_2910/tex_table_textures_3354/tex_wall_textures_8859","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4628080759136874286,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4628080759136874286,"visual_seed":4628080759136874286,"scene_id":"lab_003","finished_at":"2026-09-04T17:16:10"} +{"episode_id":"ep_000035","started_at":"2026-09-04T17:16:13","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.02307351966262261,-2.056870136290326,0.71338606911949],"aabb_xy":[[-0.08807351821969545,-2.086622669704209],[0.041926478894450225,-2.027117602876444]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[-0.2912755570753335,-1.4232656967636672,0.71338606911949],"aabb_xy":[[-0.34126866918452536,-1.4732656974378628],[-0.2412824449661416,-1.3732656960894716]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[-0.4638171684507649,-0.7999899062685687,0.71338606911949],"aabb_xy":[[-0.5288171695567082,-0.8249552793366971],[-0.39881716734482164,-0.7750245332004405]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.1827212391872448,-1.863574841663379,0.71338606911949],"aabb_xy":[[-0.27272123778171475,-1.8798254279768003],[-0.0927212405927749,-1.8473242553499583]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.38028084109346605,-0.04353201324596645,0.71338606911949],"aabb_xy":[[-0.3856184167594707,-0.06853201417510624],[-0.37494326542746154,-0.018532012316826663]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.6541103377634023,0.3851161037162987,0.71338606911949],"aabb_xy":[[0.6428652821927845,0.37387430599220334],[0.6653553933340202,0.3963579014403939]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.16200782102316147,-0.9539180246336647,0.71338606911949],"aabb_xy":[[-0.17950782128249815,-0.9680095668224376],[-0.1445078207638249,-0.9398264824448923]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[0.4095022214719133,-1.6735243779978377,0.71338606911949],"aabb_xy":[[0.3295083978933551,-1.7535243805906795],[0.48949604505047156,-1.5935243754049964]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[-0.6116904915729644,-1.3160858471384254,0.71338606911949],"aabb_xy":[[-0.6756904918469427,-1.3661519473357133],[-0.5476904912989863,-1.2660197469411374]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.19349331910249556,0.588587967136132,0.71338606911949],"aabb_xy":[[-0.21849331865423405,0.5784454832709973],[-0.16849331955075708,0.5987304510012668]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[-0.5587950795191319,1.3270259639669577,0.71338606911949],"aabb_xy":[[-0.5812950797626473,1.3148213293071858],[-0.5362950792756165,1.3392305986267297]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[-0.5169194199890625,-2.23951122717466,0.71338606911949],"aabb_xy":[[-0.5209975778961122,-2.243592207422923],[-0.5128412620820129,-2.2354302469263967]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[-0.28757346542310713,-1.2733466574061336,0.71338606911949],"aabb_xy":[[-0.32442401336009474,-1.3108466582291673],[-0.2507229174861195,-1.2358466565831]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.10017953233882781,-0.09417167727451314,0.71338606911949],"aabb_xy":[[-0.15017953328936062,-0.12572082427803455],[-0.05017953138829499,-0.06262253027099174]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[0.41823174386699224,-1.2609564793493688,0.71338606911949],"aabb_xy":[[0.36310653823740147,-1.3209564807906558],[0.473356949496583,-1.2009564779080815]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.15747859320611635,-0.2381422132872948,0.71338606911949],"aabb_xy":[[-0.16379069274245478,-0.24390915254051362],[-0.1511664936697779,-0.23237527403407596]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.4135291760879316,0.46288744371779567,0.71338606911949],"aabb_xy":[[0.36354622590045216,0.41288744407523525],[0.46351212627541083,0.5128874433603561]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.3645018939336693,0.8586064398020592,0.71338606911949],"aabb_xy":[[0.2745018945152984,0.8252309429578696],[0.45450189335204016,0.891981936646249]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.5229133322810603,0.21276592628107727,0.71338606911949],"aabb_xy":[[-0.6066355577811428,0.12276592274638129],[-0.43919110678097784,0.3027659298157732]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.5179816221333502,0.35742572016931184,0.71338606911949],"aabb_xy":[[-0.5348923545696919,0.34395351457669726],[-0.5010708896970083,0.3708979257619263]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.23931419484745164,-2.1232138104070044,0.71338606911949],"aabb_xy":[[0.22744211183595053,-2.2082138101006548],[0.25118627785895276,-2.038213810713354]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[-0.5196080985070384,-0.6505233185767629,0.71338606911949],"aabb_xy":[[-0.5370388135860448,-0.6677954332406135],[-0.5021773834280318,-0.6332512039129119]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.08536893135923562,1.74314131844211,0.71338606911949],"aabb_xy":[[-0.10304456194783394,1.725461102162707],[-0.06769330077063727,1.7608215347215126]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[-0.3986173959046919,-0.5474960541973624,0.71338606911949],"aabb_xy":[[-0.44861667107312814,-0.5974960554733096],[-0.3486181207362558,-0.4974960529214153]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[0.40288320509790765,-2.5178316567644483,0.71338606911949],"aabb_xy":[[0.36538320667450724,-2.5309958707322786],[0.44038320352130794,-2.504667442796617]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.5115772267102109,1.453305356468126,0.71338606911949],"aabb_xy":[[-0.5179910403533957,1.4468955362204572],[-0.5051634130670258,1.4597151767157939]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[-0.38891688003848257,-2.1305193007065593,0.71338606911949],"aabb_xy":[[-0.40401918149950056,-2.1456208223376203],[-0.37381457857746436,-2.1154177790754964]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_27","position":[-0.20936620560390462,0.4600570478399635,0.71338606911949],"aabb_xy":[[-0.2318309755753097,0.4375570469611029],[-0.18690143563249947,0.48255704871882393]]},{"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_28","position":[0.08857054167722878,1.6054596890778279,0.71338606911949],"aabb_xy":[[0.05265703725223908,1.5695461808610733],[0.12448404610221844,1.6413731972945824]]}],"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":0.6914652215710994,"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/1145.png","name":"1145"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1145.png","name":"1145"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/390.png","name":"390"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/591.png","name":"591"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3836.png","name":"3836"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3189.png","name":"3189"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":733.0470796045038,"rotation_z_degrees":171.46764194577452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005294247862043076,-0.013207375813952753,0.017338796892340826]},{"name":"camera_2","offset_m":[-0.0035124870237789457,-0.011194674950040126,-0.0037621667039836743]},{"name":"camera_3","offset_m":[0.005898101244846809,-0.018389702601798685,0.0007044157214943156]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011090900543647745,-0.000701063949474166,0.0012529288804821238],"end_effector_yaw_offset_degrees":-0.8395052558938119},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00128056001820175,0.0009832493022161356,0.000722433427775671],"end_effector_yaw_offset_degrees":-0.31326395195920087},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007304495170375263,-0.001976894271693694,-0.0019227127720248096],"end_effector_yaw_offset_degrees":0.7162696827626394}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003699842440986513,-0.0038390683570649585],"position_m":[0.2962300157559013,0.36156093164293507,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028720744738710145,-0.0034165886633748003],"position_m":[0.267827925526129,-0.3591165886633748,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020887636097426045,-0.002636350475293112],"position_m":[0.3416112363902574,0.2624636495247069,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004775935891230266,-0.003310165577132945],"position_m":[0.31777593589123027,0.05998983442286705,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"84a098660f6f10adb8631ae300c28e4a2f86f7012c66f7e6d70054d9dc5525a9","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0035.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1145/tex_ceiling_textures_3189/tex_floor_textures_3836/tex_table_textures_390/tex_wall_textures_591","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":3393555084609652838,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":3393555084609652838,"visual_seed":3393555084609652838,"scene_id":"lab_003","finished_at":"2026-09-04T17:19:32"} +{"episode_id":"ep_000036","started_at":"2026-09-04T17:19:35","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.6382812500906393,-1.875790489633137,0.71338606911949],"aabb_xy":[[-0.6882586669558928,-1.925790491122385],[-0.5883038332253856,-1.825790488143888]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[-0.09879482707165166,-0.6935810601159391,0.71338606911949],"aabb_xy":[[-0.10342994222388502,-0.6974483951930877],[-0.09415971191941824,-0.6897137250387904]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[-0.43165859904987525,-1.1224114331799462,0.71338606911949],"aabb_xy":[[-0.4659748762244932,-1.1724114331531237],[-0.3973423218752573,-1.0724114332067682]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[-0.19776182801742997,1.2947661761999267,0.71338606911949],"aabb_xy":[[-0.26176182969542733,1.2462487847206127],[-0.13376182633943262,1.3432835676792412]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.4375997313909964,-0.23002739895880353,0.71338606911949],"aabb_xy":[[-0.46259973055662945,-0.2369796446641601],[-0.4125997322253632,-0.22307515325344696]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.22562805858624368,0.09662248930159212,0.71338606911949],"aabb_xy":[[-0.2297639149189439,0.05912248985723513],[-0.22149220225354352,0.13412248874594912]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.6474920756295002,-2.1296790585499066,0.71338606911949],"aabb_xy":[[0.6369245959714012,-2.140224088662915],[0.6580595552875992,-2.119134028436898]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.6061335257280442,-0.9005834962793888,0.71338606911949],"aabb_xy":[[-0.6114711013940488,-0.9255834972085287],[-0.6007959500620397,-0.8755834953502492]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[0.6653961527025267,-1.8193801668916256,0.71338606911949],"aabb_xy":[[0.6478961524574772,-1.8368799547311923],[0.682896152947576,-1.8018803790520586]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.23867713543286678,-2.050375114586296,0.71338606911949],"aabb_xy":[[-0.2743062913328265,-2.086007781343149],[-0.20304797953290704,-2.014742447829443]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[0.4055307650240081,0.44279966694448314,0.71338606911949],"aabb_xy":[[0.3975044943933821,0.4340481719671305],[0.4135570356546341,0.45155116192183575]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.02422377758846328,-0.8786109086130862,0.71338606911949],"aabb_xy":[[-0.08922377547011108,-0.9297345723196272],[0.04077622029318451,-0.8274872449065455]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[0.3410706827001888,-0.7044245842161134,0.71338606911949],"aabb_xy":[[0.31855699087673156,-0.774424584817121],[0.36358437452364595,-0.6344245836151059]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[-0.045315574923843305,0.8461541658840557,0.71338606911949],"aabb_xy":[[-0.10531557543169622,0.7893074321981343],[0.014684425584009618,0.9030008995699769]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[0.1463104052841453,0.767210089863521,0.71338606911949],"aabb_xy":[[0.06631040826989731,0.7470755381901096],[0.22631040229839328,0.7873446415369322]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.29396397692348897,1.172488653675181,0.71338606911949],"aabb_xy":[[-0.31646397743552956,1.1499967953097825],[-0.27146397641144837,1.1949805120405792]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[-0.5821270433382318,-1.3180018277146932,0.71338606911949],"aabb_xy":[[-0.632009740215928,-1.368001826960968],[-0.5322443464605356,-1.2680018284684185]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[-0.10549932302456755,0.16948258221473367,0.71338606911949],"aabb_xy":[[-0.15559678700564117,0.10548258170492184],[-0.055401859043493915,0.23348258272454545]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[-0.3402154055062426,1.5763409018861965,0.71338606911949],"aabb_xy":[[-0.39021540494643814,1.52637297740188],[-0.2902154060660469,1.6263088263705126]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[0.08271608267761843,1.473536436598199,0.71338606911949],"aabb_xy":[[0.04521608232939066,1.4617450410171156],[0.12021608302584617,1.4853278321792827]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[0.648412268128663,0.9385971593303952,0.71338606911949],"aabb_xy":[[0.6317351321355675,0.9218972353564651],[0.6650894041217585,0.9552970833043256]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[-0.6357341197177501,-1.4788109719251106,0.71338606911949],"aabb_xy":[[-0.6818192109724814,-1.5428109691776657],[-0.5896490284630185,-1.4148109746725555]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[0.4487551246079442,1.309027938766604,0.71338606911949],"aabb_xy":[[0.440627436414631,1.3001143303558964],[0.4568828128012574,1.317941547177312]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[0.5617542146774217,-2.3907824098474606,0.71338606911949],"aabb_xy":[[0.5117712644899421,-2.4407824094900206],[0.6117371648649008,-2.3407824102048997]]}],"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":0.6905613151251928,"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/5107.png","name":"5107"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5107.png","name":"5107"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6635.png","name":"6635"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4046.png","name":"4046"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2369.png","name":"2369"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6720.png","name":"6720"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":824.3372835212887,"rotation_z_degrees":78.48405109629073,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005374792276296829,-0.011495948610697413,0.018178367322377573]},{"name":"camera_2","offset_m":[0.012171829048242749,-0.007717946606871005,-0.009519791702839453]},{"name":"camera_3","offset_m":[0.0023140885329285057,-0.017296293883706633,0.012939401483822905]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012094249314030451,-0.00014248398831126648,0.000520686672203233],"end_effector_yaw_offset_degrees":0.5398227059157916},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00041074511268394997,-0.0007852101437256067,-0.0015435500959954515],"end_effector_yaw_offset_degrees":0.5632916040812563},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-3.6929381178607557e-06,-0.0011095422271098624,0.00022986639653182345],"end_effector_yaw_offset_degrees":-0.010721602637089767}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026946845316920594,-0.00148046017872153],"position_m":[0.29929468453169206,0.36391953982127845,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003376332736279428,-0.0025055084164772646],"position_m":[0.2673236672637206,-0.3582055084164773,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029657116581735038,-0.00033295872783875233],"position_m":[0.3466657116581735,0.2647670412721613,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002562614790530198,-0.004898271802450001],"position_m":[0.3155626147905302,0.05840172819755,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ab3ad9da5bdf0f1ee2bf045a065177ea605c898b04c3e6bcbe055ea144beb590","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5107/tex_ceiling_textures_6720/tex_floor_textures_2369/tex_table_textures_6635/tex_wall_textures_4046","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":3826969371149240218,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":3826969371149240218,"visual_seed":3826969371149240218,"scene_id":"lab_003","finished_at":"2026-09-04T17:22:40"} +{"episode_id":"ep_000037","started_at":"2026-09-04T17:22:43","dimensions":{"distractor":{"count":21,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[-0.06875010726886543,-1.204338782595747,0.71338606911949],"aabb_xy":[[-0.08392227655049879,-1.2195076395239504],[-0.05357793798723211,-1.1891699256675436]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[0.5686288174745167,-0.41921240819729366,0.71338606911949],"aabb_xy":[[0.5632912418085122,-0.4442124091264335],[0.5739663931405213,-0.39421240726815393]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[0.37593536452125886,1.1913721460081423,0.71338606911949],"aabb_xy":[[0.3109353618834654,1.1398925473086954],[0.44093536715905235,1.2428517447075893]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.2194173594815258,-1.9834265288912143,0.71338606911949],"aabb_xy":[[-0.24191735972504116,-1.9956311635509865],[-0.19691735923801038,-1.9712218942314426]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.19072558690005004,1.3714801108647743,0.71338606911949],"aabb_xy":[[0.1731788919839311,1.333980109300523],[0.20827228181616897,1.4089801124290255]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[-0.5055704943926377,-0.7499776518717947,0.71338606911949],"aabb_xy":[[-0.5206727958536554,-0.7650791735028563],[-0.4904681929316193,-0.7348761302407326]]},{"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_6","position":[0.4903002808161996,-2.1805421174770268,0.71338606911949],"aabb_xy":[[0.45280028064432765,-2.2132428528599335],[0.5278002809880715,-2.147841382094119]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.4333438340481445,-0.8930076681641173,0.71338606911949],"aabb_xy":[[-0.4833438344087106,-0.9429876553737203],[-0.38334383368757846,-0.8430276809545144]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[0.548624234002727,-0.5564182621127678,0.71338606911949],"aabb_xy":[[0.5111242324870953,-0.5676450351289127],[0.5861242355183587,-0.5451914890966226]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[0.21604117539164902,-2.0538610153190695,0.71338606911949],"aabb_xy":[[0.20688129644777245,-2.0603922333626064],[0.22520105433552565,-2.0473297972755327]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.02747908303011737,-1.671217078818854,0.71338606911949],"aabb_xy":[[-0.05039479591516728,-1.6941213759552778],[-0.00456337014506747,-1.6483127816824308]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.08478614790149774,0.35451035275603093,0.71338606911949],"aabb_xy":[[-0.1022861470358649,0.34463072571844305],[-0.06728614876713056,0.3643899797936187]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[0.5648138050330427,-0.15715728599847667,0.71338606911949],"aabb_xy":[[0.529813803681561,-0.1775170219552975],[0.5998138063845244,-0.13679755004165584]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.04079364187706913,-2.0718937779186826,0.71338606911949],"aabb_xy":[[-0.0907936431609091,-2.1218726323093042],[0.009206359406770828,-2.02191492352806]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[-0.6373236232396191,-2.0645077380689782,0.71338606911949],"aabb_xy":[[-0.6542343556759608,-2.0779799436615924],[-0.6204128908032772,-2.051035532476363]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.5798694008409664,-0.984702012971679,0.71338606911949],"aabb_xy":[[0.5346980829927975,-1.0487020101162177],[0.6250407186891355,-0.9207020158271407]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[-0.48166155864809057,0.7632639867188895,0.71338606911949],"aabb_xy":[[-0.55166156025037,0.7498311935172319],[-0.4116615570458111,0.7766967799205471]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[0.6073438723655713,-2.243258414532642,0.71338606911949],"aabb_xy":[[0.5992302176921942,-2.2513642309866713],[0.6154575270389484,-2.2351525980786127]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[0.30538206168114,-2.457797898890447,0.71338606911949],"aabb_xy":[[0.28179693821724516,-2.522797901135879],[0.32896718514503487,-2.3927978966450154]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.4011218414945108,-1.9310167417870128,0.71338606911949],"aabb_xy":[[0.3957893268398978,-1.936341070032248],[0.4064543561491238,-1.925692413541777]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.565175498877408,0.8096195146315073,0.71338606911949],"aabb_xy":[[0.5301754996845897,0.7986524686338445],[0.6001754980702262,0.8205865606291698]]}],"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":0.6958979830334027,"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/8651.png","name":"8651"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8651.png","name":"8651"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3740.png","name":"3740"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8632.png","name":"8632"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8197.png","name":"8197"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2134.png","name":"2134"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":797.5143593410625,"rotation_z_degrees":316.75370983632655,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008358729428273813,0.01350967262893835,0.005229604539318908]},{"name":"camera_2","offset_m":[0.00913733664325916,0.006864404053783302,-0.012348604316857074]},{"name":"camera_3","offset_m":[0.0005117762335669976,0.01109538690531102,0.016969319277311528]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004009950622918903,0.0001623109778252944,-0.001978860117266089],"end_effector_yaw_offset_degrees":0.5654262173233076},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002369094764283165,0.0011048886976355193,0.0014175179290431034],"end_effector_yaw_offset_degrees":0.5874504870463426},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016103993645432426,0.001480870925289144,-0.0015283342975123846],"end_effector_yaw_offset_degrees":0.5379399892866299}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004933501008326322,-0.0009374171219422352],"position_m":[0.29610664989916735,0.3644625828780578,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0040959851348393765,-0.0004338517736475322],"position_m":[0.2747959851348394,-0.35613385177364754,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0025039075213134122,-0.0014918014900766352],"position_m":[0.3462039075213134,0.26360819850992334,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00014809070303386726,-0.002629901305006469],"position_m":[0.31314809070303384,0.06067009869499353,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"89f0c3a09c4f64d8c473f7b82fac9b27a04f024fa96897b8bf7fe61cc3a107ed","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8651/tex_ceiling_textures_2134/tex_floor_textures_8197/tex_table_textures_3740/tex_wall_textures_8632","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5055572933568873455,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5055572933568873455,"visual_seed":5055572933568873455,"scene_id":"lab_003","finished_at":"2026-09-04T17:25:52"} +{"episode_id":"ep_000038","started_at":"2026-09-04T17:25:55","dimensions":{"distractor":{"count":23,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[-0.45602779049503495,-1.039630723412632,0.71338606911949],"aabb_xy":[[-0.4895069577560759,-1.0731098367837393],[-0.422548623233994,-1.0061516100415253]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[0.09433864556726279,-0.9244869600576873,0.71338606911949],"aabb_xy":[[0.01433864840768749,-0.9360345610155042],[0.17433864272683808,-0.9129393590998701]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.027943379778966437,1.1726363148278405,0.71338606911949],"aabb_xy":[[-0.05205662165116076,1.093119159815231],[0.10794338120909364,1.25215346984045]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.13934671861399206,-0.13069312900790342,0.71338606911949],"aabb_xy":[[-0.1554086460725097,-0.2156931308204952],[-0.12328479115547443,-0.04569312719531159]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.31642003727159257,-0.3092980129297702,0.71338606911949],"aabb_xy":[[-0.32346034720512956,-0.3892980123294417],[-0.3093797273380556,-0.22929801353009888]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.26500800832491556,1.556051107622523,0.71338606911949],"aabb_xy":[[-0.2987835675156085,1.542012612409358],[-0.23123244913422253,1.5700896028356879]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.14592270227762905,-2.109923012363944,0.71338606911949],"aabb_xy":[[0.09190710599572904,-2.173923015256201],[0.19993829855952905,-2.0459230094716867]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.23121687342971048,0.19936908580887858,0.71338606911949],"aabb_xy":[[-0.25032918078768934,0.18023430693163656],[-0.21210456607173162,0.2185038646861206]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.30510222037999374,-0.9847187953634822,0.71338606911949],"aabb_xy":[[-0.3177290076671901,-0.9942648690650551],[-0.2924754330927974,-0.9751727216619093]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[0.26111406020949735,-0.6097132886811663,0.71338606911949],"aabb_xy":[[0.20611406200775248,-0.6502352553076038],[0.3161140584112421,-0.5691913220547287]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.3844756679934604,0.4433920774910294,0.71338606911949],"aabb_xy":[[-0.39175798437012394,0.35339207388152033],[-0.3771933516167966,0.5333920811005383]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.39207897179927476,-2.442428880757345,0.71338606911949],"aabb_xy":[[0.3615947216722446,-2.4924288805388404],[0.4225632219263049,-2.3924288809758485]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[0.4834331365868849,-0.16118477097904638,0.71338606911949],"aabb_xy":[[0.44593313801126405,-0.17392106664260432],[0.5209331351625056,-0.14844847531548844]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[0.5077229138565824,-1.157473176918916,0.71338606911949],"aabb_xy":[[0.42772291684233443,-1.1776077285923272],[0.5877229108708304,-1.1373386252455047]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[-0.6427621672504111,1.453393108271905,0.71338606911949],"aabb_xy":[[-0.6500234148208187,1.4406060980083955],[-0.6355009196800038,1.4661801185354144]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[0.4811704894470694,-1.9111067854908521,0.71338606911949],"aabb_xy":[[0.4310730254659958,-1.975106786000664],[0.531267953428143,-1.8471067849810403]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[-0.17397264975309445,-2.503568478429955,0.71338606911949],"aabb_xy":[[-0.17788652294851695,-2.5123174938365116],[-0.1700587765576719,-2.494819463023398]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[-0.2204337066716262,0.6990872687116934,0.71338606911949],"aabb_xy":[[-0.2274751576223738,0.6920605169738989],[-0.2133922557208786,0.706114020449488]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[0.6642527724682123,-1.4118058094652421,0.71338606911949],"aabb_xy":[[0.6292527724917165,-1.4212704255128588],[0.6992527724447082,-1.4023411934176255]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.2537735813478528,-1.6009577568088522,0.71338606911949],"aabb_xy":[[0.1937735810964516,-1.6552390818453164],[0.31377358159925395,-1.5466764317723871]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.005246134496184718,-2.3834469037994745,0.71338606911949],"aabb_xy":[[-0.0029684106194992625,-2.392123494097115],[0.013460679611868694,-2.3747703135018323]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[0.5500292218922322,1.1139537402581823,0.71338606911949],"aabb_xy":[[0.4950369712567214,1.0589537385148697],[0.6050214725277433,1.1689537420014953]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[0.6379964636377702,-2.215672182820345,0.71338606911949],"aabb_xy":[[0.588012227929593,-2.2656721816338408],[0.6879806993459474,-2.1656721840068496]]}],"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":0.6893510608765178,"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/7660.png","name":"7660"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7660.png","name":"7660"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5517.png","name":"5517"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2384.png","name":"2384"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1401.png","name":"1401"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2998.png","name":"2998"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":643.8806379396214,"rotation_z_degrees":298.8756572191758,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010081440425830576,-0.009231979401417591,0.018346040358993645]},{"name":"camera_2","offset_m":[0.01931314069179978,0.0032540640904393375,-0.0004671210847912999]},{"name":"camera_3","offset_m":[0.004636775833413206,-0.01004321025800349,0.018691041481394704]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005630912112721393,-0.0014537211216492083,-0.0018048102519576648],"end_effector_yaw_offset_degrees":-0.40755021548384973},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001361331058239002,0.0007100938770999566,-0.0014560959629779584],"end_effector_yaw_offset_degrees":0.78908395441408},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001224066287401818,-0.0007713491513352748,0.0003916462439673375],"end_effector_yaw_offset_degrees":-0.30480354556224}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004081408657199539,0.002585273853753508],"position_m":[0.3006814086571995,0.3679852738537535,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030169125886478853,0.00043015416009637916],"position_m":[0.2676830874113521,-0.3552698458399036,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035439784760861208,-0.002598645940511054],"position_m":[0.3472439784760861,0.26250135405948893,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001327521647211739,0.004937573170729056],"position_m":[0.3116724783527883,0.06823757317072905,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b18b312cbcea7c988af3b54a893ca449650cc43749566721d550632ba5f565e","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7660/tex_ceiling_textures_2998/tex_floor_textures_1401/tex_table_textures_5517/tex_wall_textures_2384","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6792578736689514017,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6792578736689514017,"visual_seed":6792578736689514017,"scene_id":"lab_003","finished_at":"2026-09-04T17:29:06"} +{"episode_id":"ep_000039","started_at":"2026-09-04T17:29:10","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[0.4594330751332085,0.951917742210588,0.71338606911949],"aabb_xy":[[0.42193307518944206,0.9436246521757514],[0.4969330750769749,0.9602108322454246]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.6318321843508372,-2.296788255610967,0.71338606911949],"aabb_xy":[[0.6198994499890091,-2.3091704084188263],[0.6437649187126653,-2.2844061028031075]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.365471700766171,-1.6760107242097155,0.71338606911949],"aabb_xy":[[-0.3756247163203203,-1.7120802657824556],[-0.3553186852120216,-1.639941182636975]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.06121367775809172,1.1333041051823032,0.71338606911949],"aabb_xy":[[-0.003786322276211014,1.0866034285019759],[0.12621367779239445,1.1800047818626305]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.17516158236812673,0.8835798566074828,0.71338606911949],"aabb_xy":[[0.16694703725244273,0.8749032663098414],[0.18337612748381069,0.8922564469051241]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.2309120374268897,0.6973975907747261,0.71338606911949],"aabb_xy":[[0.18091203647635687,0.6658484437712046],[0.2809120383774225,0.7289467377782474]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[0.6146297842528283,-1.1763849024176678,0.71338606911949],"aabb_xy":[[0.5970514820638815,-1.1939593919917728],[0.6322080864417752,-1.1588104128435628]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.511239737095448,-1.7390302420726935,0.71338606911949],"aabb_xy":[[-0.5185220534721114,-1.8290302456822023],[-0.5039574207187841,-1.6490302384631843]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.12568946937447234,1.4199614153799254,0.71338606911949],"aabb_xy":[[0.07568946901390629,1.3699814281703222],[0.1756894697350384,1.469941402589528]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.510316993700561,0.08199690542413363,0.71338606911949],"aabb_xy":[[-0.600316992295031,0.0657463191107126],[-0.4203169951060911,0.09824749173755465]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.5991873785833599,-1.959034442146783,0.71338606911949],"aabb_xy":[[0.5616873800077391,-1.9717707378103406],[0.6366873771589807,-1.9462981464832247]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.07830804252449719,-1.7447288108046228,0.71338606911949],"aabb_xy":[[0.014308042250518974,-1.7947949110019108],[0.14230804279847542,-1.6946627106073349]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[-0.4130666038590055,-1.204983114760786,0.71338606911949],"aabb_xy":[[-0.48306660725056744,-1.2402988884642168],[-0.34306660046744347,-1.169667341057355]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[-0.1722513887573055,-0.6401613403641346,0.71338606911949],"aabb_xy":[[-0.18831331621582315,-0.7251613421767263],[-0.15618946129878786,-0.5551613385515427]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[-0.31548100004703217,-1.3908571116884556,0.71338606911949],"aabb_xy":[[-0.39548099706128015,-1.4109916633618667],[-0.2354810030327842,-1.3707225600150441]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[0.17292897220840486,-2.2855467706963064,0.71338606911949],"aabb_xy":[[0.14046727132647735,-2.3156796028112088],[0.20539067309033227,-2.255413938581403]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.43397827554847695,1.6047995167708398,0.71338606911949],"aabb_xy":[[-0.4685693584025221,1.5397995164858085],[-0.3993871926944317,1.6697995170558706]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.40520612568533987,-1.1785449519626265,0.71338606911949],"aabb_xy":[[0.3630217115245092,-1.242544952239838],[0.44739053984617067,-1.1145449516854156]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[0.667350877179995,-0.8338021235947497,0.71338606911949],"aabb_xy":[[0.6261020661500802,-0.888802123106967],[0.7085996882099097,-0.7788021240825321]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[0.15347936698362397,-1.9894812885748312,0.71338606911949],"aabb_xy":[[0.10848678026517355,-2.03448128784928],[0.19847195370207438,-1.9444812893003822]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[0.2202735078987853,1.1115594975602843,0.71338606911949],"aabb_xy":[[0.21264923980860712,1.1039262740237406],[0.2278977759889636,1.119192721096828]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.5989377047421378,0.19110700195766483,0.71338606911949],"aabb_xy":[[-0.6211102317187885,0.16893133480154163],[-0.5767651777654869,0.21328266911378796]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[-0.3624177176004441,1.018308346697253,0.71338606911949],"aabb_xy":[[-0.45241771701881495,0.9849328498530632],[-0.27241771818207317,1.0516838435414426]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.595354788612375,1.6955314501215848,0.71338606911949],"aabb_xy":[[-0.6453390243205522,1.6455314513080892],[-0.5453705529041978,1.7455314489350804]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[0.630266009470041,0.018097764972301533,0.71338606911949],"aabb_xy":[[0.6253099892851598,-0.004402235229820085],[0.6352220296549221,0.04059776517442316]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[0.008715261429229404,1.7837583815059284,0.71338606911949],"aabb_xy":[[-0.028784736994170945,1.7705941675380976],[0.04621525985262975,1.796922595473759]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_26","position":[-0.1194136510988224,0.5716291767220665,0.71338606911949],"aabb_xy":[[-0.13374807622498586,0.5595689611675275],[-0.10507922597265895,0.5836893922766052]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[0.5423650585121009,-1.0304085518507815,0.71338606911949],"aabb_xy":[[0.5346618678380239,-1.0381179225495196],[0.5500682491861779,-1.0226991811520434]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_28","position":[0.09168591772596402,-1.3166888175806508,0.71338606911949],"aabb_xy":[[0.03168591608304215,-1.3686889668725948],[0.15168591936888587,-1.2646886682887064]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_29","position":[-0.003020390643589166,-2.278872516263515,0.71338606911949],"aabb_xy":[[-0.06302039049015595,-2.3356911384565535],[0.05697960920297762,-2.222053894070476]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_30","position":[-0.29962564295399485,1.7772847034781347,0.71338606911949],"aabb_xy":[[-0.3696256450854244,1.7545227378524388],[-0.2296256408225653,1.8000466691038302]]}],"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":0.6868661219035483,"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/6915.png","name":"6915"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6915.png","name":"6915"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3408.png","name":"3408"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4029.png","name":"4029"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9435.png","name":"9435"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9105.png","name":"9105"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":663.2320703124343,"rotation_z_degrees":24.426024291826018,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017150822612649958,-0.014402330276226664,-0.006490590711013157]},{"name":"camera_2","offset_m":[-0.001034104727914601,-0.009531559438910825,0.016673749663545883]},{"name":"camera_3","offset_m":[-0.010180781217945856,-0.0030408023926207853,-0.009671389308026624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014010777129848848,-0.00044381667855656693,-0.001420742067932388],"end_effector_yaw_offset_degrees":-0.9172827900183911},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013380053941317322,-0.0003425217470336098,-0.0010467608285273508],"end_effector_yaw_offset_degrees":0.763006978177516},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004443134460653123,0.0018590426746084082,0.001713991624258229],"end_effector_yaw_offset_degrees":-0.711565935763012}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038109625820516536,-0.0023581791504689166],"position_m":[0.30041096258205163,0.36304182084953107,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004603566887061363,0.002615040523876618],"position_m":[0.2660964331129386,-0.3530849594761234,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006411681668119342,0.001744466329812274],"position_m":[0.3430588318331881,0.2668444663298123,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019425731591262594,-0.00010505432101461966],"position_m":[0.31494257315912627,0.06319494567898537,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2d6f0757ef12ffcff4c2a9a3eaea55bc7c478d5016b3ae71f26d1d6d590cda11","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6915/tex_ceiling_textures_9105/tex_floor_textures_9435/tex_table_textures_3408/tex_wall_textures_4029","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2061625711452680172,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2061625711452680172,"visual_seed":2061625711452680172,"scene_id":"lab_003","finished_at":"2026-09-04T17:32:14"} +{"episode_id":"ep_000040","started_at":"2026-09-04T17:32:18","dimensions":{"distractor":{"count":30,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[0.3096500471369166,-0.8288909279536467,0.71338606911949],"aabb_xy":[[0.2871500466248759,-0.851382786319045],[0.3321500476489571,-0.8063990695882483]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[-0.2175804162561496,-0.3247037619089639,0.71338606911949],"aabb_xy":[[-0.22570810444946285,-0.33361737031967154],[-0.2094527280628364,-0.31579015349825623]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[0.4743012313603179,0.6989231446416584,0.71338606911949],"aabb_xy":[[0.42430622040086596,0.6489231456060668],[0.52429624231977,0.7489231436772502]]},{"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_3","position":[-0.49180297439275533,-2.2661620914878733,0.71338606911949],"aabb_xy":[[-0.5005009366834707,-2.278287065795348],[-0.4831050121020401,-2.2540371171803986]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.09134850706208775,-2.0609278665779653,0.71338606911949],"aabb_xy":[[-0.18134850678526193,-2.0840012191131447],[-0.0013485073389135763,-2.037854514042785]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.6614588824215822,-0.4158923418251246,0.71338606911949],"aabb_xy":[[-0.6663581747281456,-0.4435692611276933],[-0.6565595901150186,-0.38821542252255575]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[-0.22098962107061554,0.5127887995656657,0.71338606911949],"aabb_xy":[[-0.30098962134422247,0.4398392517399489],[-0.14098962079700855,0.5857383473913823]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[-0.6285045314959863,0.6483760043072913,0.71338606911949],"aabb_xy":[[-0.6485629431092266,0.6283109173981337],[-0.608446119882746,0.6684410912164488]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[-0.19679767067294118,0.7405892787871391,0.71338606911949],"aabb_xy":[[-0.22794458951652433,0.6705892801003319],[-0.1656507518293581,0.8105892774739463]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.11030662370740141,-2.28869661264102,0.71338606911949],"aabb_xy":[[-0.1328066237175497,-2.3027928322806237],[-0.08780662369725313,-2.274600393001417]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[-0.04978240599118333,-1.4607660708116215,0.71338606911949],"aabb_xy":[[-0.05953839550035722,-1.4705286048708557],[-0.04002641648200944,-1.4510035367523868]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.016983083407411947,-1.2960881411602212,0.71338606911949],"aabb_xy":[[-2.7013882638707992e-05,-1.3122226296584951],[0.0339931806974626,-1.2799536526619473]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.18536324719399866,-1.6031951995952833,0.71338606911949],"aabb_xy":[[0.13536324854807744,-1.6531147432547457],[0.23536324583991983,-1.553275655935821]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[-0.3118150523782464,-1.505844947530533,0.71338606911949],"aabb_xy":[[-0.3442767532601738,-1.5359777796454355],[-0.2793533514963189,-1.4757121154156303]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.002831598125497825,-0.8758732372003335,0.71338606911949],"aabb_xy":[[-0.01747500367953081,-0.8905319568571176],[0.01181180742853516,-0.8612145175435492]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.2320162623248091,1.6899957441268998,0.71338606911949],"aabb_xy":[[0.19638710642484933,1.6543630773700468],[0.26764541822476884,1.7256284108837527]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.021640759861213832,0.9044075165113741,0.71338606911949],"aabb_xy":[[-0.07163387197040573,0.8544075158371786],[0.028352352247978062,0.9544075171855698]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.5624386894080633,0.943290983607576,0.71338606911949],"aabb_xy":[[0.537438690136101,0.9269456200114136],[0.5874386886800256,0.9596363472037382]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.2784014838354987,-2.2232429700564627,0.71338606911949],"aabb_xy":[[0.22842841830298327,-2.273242969868996],[0.3283745493680142,-2.17324297024393]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[-0.4850357529897191,0.14141524954941032,0.71338606911949],"aabb_xy":[[-0.5225357541745117,0.13699702685334975],[-0.4475357518049262,0.14583347224547083]]},{"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_20","position":[0.4069563831647256,-2.061468165298448,0.71338606911949],"aabb_xy":[[0.37696472043085527,-2.0914681646352484],[0.4369480458985959,-2.0314681659616474]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[0.6578342437975602,-1.4470841697810952,0.71338606911949],"aabb_xy":[[0.5938342435235818,-1.4971502699783832],[0.7218342440715383,-1.3970180695838073]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[-0.48409140835423486,1.3545156129609581,0.71338606911949],"aabb_xy":[[-0.49133517440048013,1.274515614757356],[-0.4768476423079895,1.4345156111645607]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[-0.43273657955409234,-1.7726282549892027,0.71338606911949],"aabb_xy":[[-0.45725020365109825,-1.7968928482912392],[-0.40822295545708653,-1.7483636616871663]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.4364409686261477,0.5640907471631404,0.71338606911949],"aabb_xy":[[-0.4460726048465773,0.5544534343834315],[-0.42680933240571806,0.5737280599428494]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[-0.6185373524284298,-1.287591256136849,0.71338606911949],"aabb_xy":[[-0.6360373515627968,-1.2974708831744366],[-0.6010373532940625,-1.277711629099261]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[-0.15881632956570302,0.1397011297638091,0.71338606911949],"aabb_xy":[[-0.23881015314426127,0.059701127170967566],[-0.07882250598714483,0.2197011323566507]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[0.5410140115629851,-0.8077277030040819,0.71338606911949],"aabb_xy":[[0.5035140100473534,-0.818954476020227],[0.5785140130786168,-0.7965009299879369]]},{"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_28","position":[0.08521825484439449,1.1789580560030206,0.71338606911949],"aabb_xy":[[0.067349147089939,1.1651251480258096],[0.10308736259884999,1.1927909639802317]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_29","position":[0.5034961012035586,1.0843055838944577,0.71338606911949],"aabb_xy":[[0.4926556229770437,1.0671193026038088],[0.5143365794300735,1.1014918651851062]]}],"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":0.6893408454082663,"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/2920.png","name":"2920"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2920.png","name":"2920"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9742.png","name":"9742"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1134.png","name":"1134"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3590.png","name":"3590"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/186.png","name":"186"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":542.0182356051703,"rotation_z_degrees":25.148245012534424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005124382216819753,0.011067337160020677,-0.007253437035741351]},{"name":"camera_2","offset_m":[0.01666977497324108,0.0007500883332083041,-0.00839662218719754]},{"name":"camera_3","offset_m":[-0.019031374988045108,-0.0027293901994615913,0.005929093618471094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007862220195425256,-0.0014341262473975892,0.000641237735888334],"end_effector_yaw_offset_degrees":0.03538049884818739},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00041021419299322936,-0.0018210777020776267,-0.0014127523673384444],"end_effector_yaw_offset_degrees":0.194493257085812},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012261946900173188,-0.0008256337423575859,0.0011106477461445847],"end_effector_yaw_offset_degrees":0.5941451110073226}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038976519641562824,-0.004955262216188887],"position_m":[0.2927023480358437,0.36044473778381114,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035935534358003795,-0.0005071455672406629],"position_m":[0.26710644656419963,-0.3562071455672407,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009722686633752021,-0.004505183120623637],"position_m":[0.3427277313366248,0.26059481687937636,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00444114536353834,-0.001357942604476017],"position_m":[0.31744114536353835,0.061942057395523976,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b99914b4bce4a2f7e91f61803b36412674c948e2f69114c7866e8d65aae21270","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2920/tex_ceiling_textures_186/tex_floor_textures_3590/tex_table_textures_9742/tex_wall_textures_1134","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1012931387601621928,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1012931387601621928,"visual_seed":1012931387601621928,"scene_id":"lab_003","finished_at":"2026-09-04T17:35:16"} +{"episode_id":"ep_000041","started_at":"2026-09-04T17:35:19","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.40717399812719,-0.5014549383795064,0.71338606911949],"aabb_xy":[[0.3835888746632951,-0.5664549406249382],[0.4307591215910848,-0.4364549361340746]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.4963319003984059,-2.3029535573820934,0.71338606911949],"aabb_xy":[[0.4468514791844472,-2.366953555294945],[0.5458123216123647,-2.2389535594692416]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.401642711309093,-1.6279199076658837,0.71338606911949],"aabb_xy":[[0.39567617236835717,-1.6338810523252478],[0.40760925024982875,-1.6219587630065195]]},{"name":"lh_cell_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_3","position":[0.65377830304212,-0.8772952597468424,0.71338606911949],"aabb_xy":[[0.5897783023386507,-0.9233136422197636],[0.7177783037455894,-0.8312768772739216]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.5382478658137351,0.6736816313821676,0.71338606911949],"aabb_xy":[[0.44824786721926513,0.6574310450687467],[0.628247864408205,0.6899322176955888]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[0.3403697577349092,-2.0928585113142866,0.71338606911949],"aabb_xy":[[0.3165335400943042,-2.1828585121227735],[0.3642059753755143,-2.0028585105058005]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[0.16167469160550596,-1.4291053195542784,0.71338606911949],"aabb_xy":[[0.08167469420191258,-1.5090978907524613],[0.2416746890090994,-1.3491127483560956]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[-0.47693788796427294,-1.1896879614169227,0.71338606911949],"aabb_xy":[[-0.4968289278446133,-1.2023437727016197],[-0.4570468480839328,-1.177032150132226]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[0.1303435245851544,0.8217446707278557,0.71338606911949],"aabb_xy":[[0.12293106904376594,0.8158934603062278],[0.1377559801265429,0.8275958811494837]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.16966009776558533,-1.7694113348909422,0.71338606911949],"aabb_xy":[[-0.17569711076625008,-1.7754380359598907],[-0.16362308476492063,-1.763384633821994]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[0.533783389378687,-1.6793422357182513,0.71338606911949],"aabb_xy":[[0.4697833861600491,-1.7260653476172598],[0.5977833925973248,-1.6326191238192431]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.29866864982174557,-1.8724882624690384,0.71338606911949],"aabb_xy":[[0.2574198387918308,-1.9274882619812554],[0.33991746085166025,-1.8174882629568205]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[-0.018360695374419422,0.16534602017419342,0.71338606911949],"aabb_xy":[[-0.03603632596301776,0.14766580389479064],[-0.0006850647858210912,0.18302623645359614]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.5840230825138544,-1.0566551771652792,0.71338606911949],"aabb_xy":[[0.4943360062057389,-1.1466551774197298],[0.6737101588219698,-0.9666551769108287]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[-0.015113863881428213,-1.0993114888986664,0.71338606911949],"aabb_xy":[[-0.023227518554805315,-1.1074173053526954],[-0.007000209208051111,-1.0912056724446373]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[-0.01885417631041042,-1.810217723735342,0.71338606911949],"aabb_xy":[[-0.022814660080144794,-1.8178855883208629],[-0.014893692540676046,-1.8025498591498217]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[-0.20914064230051715,-1.48094976523117,0.71338606911949],"aabb_xy":[[-0.2731406408870896,-1.5279567286306786],[-0.1451406437139447,-1.4339428018316611]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.6118519671508944,1.7681291208479242,0.71338606911949],"aabb_xy":[[-0.6293519005848777,1.7506291209276896],[-0.5943520337169109,1.7856291207681587]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[-0.505246438142231,0.814766311704989,0.71338606911949],"aabb_xy":[[-0.5692464398202283,0.7662489202256747],[-0.44124643646423356,0.8632837031843031]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.13358645095392152,-1.1525836926673674,0.71338606911949],"aabb_xy":[[-0.1935864508004883,-1.209402314860406],[-0.07358645110735473,-1.0957650704743287]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.5581364079511115,0.526144371420004,0.71338606911949],"aabb_xy":[[-0.5678923974602853,0.5163818373607696],[-0.5483804184419375,0.5359069054792385]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.5066927080355554,0.9832254257189468,0.71338606911949],"aabb_xy":[[-0.5146159882743038,0.9607254254809435],[-0.4987694277968071,1.0057254259569501]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[0.43634329051141196,0.8513787084186748,0.71338606911949],"aabb_xy":[[0.3813432913348224,0.7963890336437172],[0.4913432896880014,0.9063683831936324]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[-0.21806628216098056,-0.5195839834272449,0.71338606911949],"aabb_xy":[[-0.26806628382247527,-0.5695824256829474],[-0.16806628049948577,-0.469585541171542]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_24","position":[0.34864701282442145,-1.3925403160509482,0.71338606911949],"aabb_xy":[[0.34051932463110823,-1.4014539244616557],[0.3567747010177347,-1.3836267076402406]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[-0.2232623556532627,0.429010336731686,0.71338606911949],"aabb_xy":[[-0.24069307073226914,0.41173822206783506],[-0.20583164057425613,0.4462824513955367]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_26","position":[0.030295798216643854,1.4561600126377052,0.71338606911949],"aabb_xy":[[-0.019687151970835478,1.4061600129951446],[0.08027874840412318,1.5061600122802654]]}],"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":0.6916682797008943,"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/8964.png","name":"8964"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8964.png","name":"8964"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6505.png","name":"6505"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2952.png","name":"2952"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9253.png","name":"9253"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9710.png","name":"9710"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":793.234953990032,"rotation_z_degrees":318.95879457349,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004773101731688739,-0.015293336916453945,-0.014164763513150378]},{"name":"camera_2","offset_m":[-0.0007969187878797274,0.01785850098780444,-0.0014907874513868762]},{"name":"camera_3","offset_m":[-0.00813482990566075,-0.010247380317163856,-0.0009035719892910923]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017426010165840595,-0.0016566105175312654,-0.001663990972484955],"end_effector_yaw_offset_degrees":0.8090869927473634},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021593297611181188,0.0003385242084108977,-0.0008518651824434946],"end_effector_yaw_offset_degrees":0.5875065247288889},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001046723075412365,0.0006248766898568265,0.00026625398360410326],"end_effector_yaw_offset_degrees":-0.2006576449145343}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0034889664888116184,0.0048242709903057015],"position_m":[0.3000889664888116,0.3702242709903057,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018550310307051542,-0.002130462674433913],"position_m":[0.26884496896929483,-0.3578304626744339,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004361135508506314,-0.0024680107725733205],"position_m":[0.3393388644914937,0.2626319892274267,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003866187374019972,0.0009994305077131536],"position_m":[0.31686618737401995,0.06429943050771315,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0337fb0ab0a582cd9e98265d147c9bc381c7988b39958c405ca2553730573758","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8964/tex_ceiling_textures_9710/tex_floor_textures_9253/tex_table_textures_6505/tex_wall_textures_2952","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":78969794858882105,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":78969794858882105,"visual_seed":78969794858882105,"scene_id":"lab_003","finished_at":"2026-09-04T17:38:23"} +{"episode_id":"ep_000042","started_at":"2026-09-04T17:38:26","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[0.6686160192743256,-2.0102872184880156,0.71338606911949],"aabb_xy":[[0.6423271949538848,-2.0365586521426664],[0.6949048435947661,-1.9840157848333642]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.21047252029351204,-1.384293394403222,0.71338606911949],"aabb_xy":[[0.1464725183811697,-1.4402045436612327],[0.2744725222058544,-1.3283822451452119]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[0.2258974756579969,-2.5278586491395387,0.71338606911949],"aabb_xy":[[0.215056997431482,-2.5450449304301874],[0.2367379538845118,-2.51067236784889]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[0.5362255664418949,-2.4742981995009536,0.71338606911949],"aabb_xy":[[0.5062580095320692,-2.504298199798839],[0.5661931233517206,-2.444298199203068]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.26644761446462745,1.1433753468076984,0.71338606911949],"aabb_xy":[[-0.303947614281661,1.1387371354965565],[-0.2289476146475939,1.1480135581188402]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.2953996976732652,0.400284706863657,0.71338606911949],"aabb_xy":[[-0.31898482113716004,0.33528470461822524],[-0.27181457420937033,0.4652847091090888]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.3973627375608449,0.3838621754372529,0.71338606911949],"aabb_xy":[[-0.43236273745686377,0.3754879399253129],[-0.362362737664826,0.39223641094919276]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.5389201634619676,1.2568985743361347,0.71338606911949],"aabb_xy":[[-0.5889201638225336,1.2069185871265318],[-0.4889201631014016,1.3068785615457377]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.13529800396767178,1.4833745815389698,0.71338606911949],"aabb_xy":[[0.085298002306177,1.433376139283267],[0.1852980056291665,1.5333730237946723]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.6625735468996258,-0.21537674243458804,0.71338606911949],"aabb_xy":[[-0.6871197625223765,-0.2456256389836251],[-0.638027331276875,-0.18512784588555098]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.48157278490182565,-0.5031660730106315,0.71338606911949],"aabb_xy":[[0.47000380415488907,-0.5281660731275633],[0.4931417656487622,-0.47816607289369983]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[0.41320211072095403,-0.9540597806094384,0.71338606911949],"aabb_xy":[[0.38820211155532086,-0.961012026314795],[0.4382021098865871,-0.9471075349040818]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[-0.5651533861375588,0.22279325933413707,0.71338606911949],"aabb_xy":[[-0.6291533865150926,0.1730479924833248],[-0.5011533857600253,0.27253852618494934]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.04691914587267665,-1.8069564459124758,0.71338606911949],"aabb_xy":[[-0.10691914673348944,-1.858382875918962],[0.013080854988136157,-1.7555300159059892]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[-0.21092312576861294,-1.0094467330118524,0.71338606911949],"aabb_xy":[[-0.21535375512345314,-1.014895104746535],[-0.2064924964137728,-1.0039983612771697]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.5054587036195921,-2.5115705684231524,0.71338606911949],"aabb_xy":[[-0.52056100508061,-2.526672090054214],[-0.49035640215857385,-2.49646904679209]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.35199345774132995,0.554499495837407,0.71338606911949],"aabb_xy":[[-0.43199345490090524,0.54295189487959],[-0.27199346058175466,0.566047096795224]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.2787715195409831,-0.5399725131699107,0.71338606911949],"aabb_xy":[[-0.30068020168033416,-0.5618731799900013],[-0.25686283740163207,-0.5180718463498198]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.3247718350549793,1.3557813064790483,0.71338606911949],"aabb_xy":[[0.28914267915501957,1.3201486397221953],[0.36040099095493905,1.3914139732359012]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.3533661288185914,1.2386256658730428,0.71338606911949],"aabb_xy":[[0.27336613180434344,1.2184911141996315],[0.4333661258328394,1.258760217546454]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[0.4352786741120027,0.9425845456107584,0.71338606911949],"aabb_xy":[[0.38528384118406106,0.8925845467155149],[0.48527350703994426,0.992584544506002]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[-0.21283028324908593,1.3981339703276023,0.71338606911949],"aabb_xy":[[-0.3028302829722601,1.3750606177924223],[-0.12283028352591176,1.421207322862782]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[-0.039979106088894434,-0.7566307546076914,0.71338606911949],"aabb_xy":[[-0.09997910659674736,-0.8134774882936124],[0.02002089441895848,-0.6997840209217698]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[-0.23710843678903187,-1.7387826783348967,0.71338606911949],"aabb_xy":[[-0.267592686916062,-1.7887826781163925],[-0.20662418666200166,-1.6887826785534006]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[-0.07324457845471255,-1.1834507523354225,0.71338606911949],"aabb_xy":[[-0.11074457911929124,-1.1991378103356445],[-0.03574457779013384,-1.1677636943352]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_25","position":[-0.2813618683811724,-1.2872123367116675,0.71338606911949],"aabb_xy":[[-0.3313351623844328,-1.3372123372662146],[-0.23138857437791188,-1.23721233615712]]},{"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_26","position":[-0.25536634102435096,-0.7540594980503355,0.71338606911949],"aabb_xy":[[-0.26465995926150154,-0.7915594965384695],[-0.24607272278720038,-0.7165594995622017]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_27","position":[-0.5486463753180302,1.618656396195607,0.71338606911949],"aabb_xy":[[-0.612646375578501,1.5736475968426789],[-0.4846463750575594,1.6636651955485349]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[0.027834652178695518,-2.350865047939148,0.71338606911949],"aabb_xy":[[-0.062165344322176234,-2.3967766903576058],[0.11783464867956726,-2.3049534055206893]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_29","position":[0.0031380319104074017,1.20547847482135,0.71338606911949],"aabb_xy":[[-0.034361968381767416,1.2014369994207463],[0.04063803220258222,1.2095199502219534]]}],"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":0.6945295804494168,"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/2260.png","name":"2260"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2260.png","name":"2260"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1152.png","name":"1152"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7075.png","name":"7075"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5513.png","name":"5513"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6368.png","name":"6368"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":684.0950617584631,"rotation_z_degrees":79.0243202943518,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012279849949869224,-0.010169707563043496,0.002661748209077334]},{"name":"camera_2","offset_m":[0.009969523063644542,0.01155738911583416,-0.014074301842830206]},{"name":"camera_3","offset_m":[0.01945325175819587,-0.010958609455106499,-0.012038590215234434]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007994496519305994,-0.0002569206456653635,-0.001458332359491455],"end_effector_yaw_offset_degrees":0.906569787256684},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016607076231619912,-0.00010117330740381765,-0.0016767454261561116],"end_effector_yaw_offset_degrees":0.07166340404740024},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001714396777261995,-4.779663984965862e-06,-0.0010828220580832919],"end_effector_yaw_offset_degrees":-0.2591185217158609}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004862300711796791,-0.0007053530451413617],"position_m":[0.2917376992882032,0.36469464695485865,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[8.60084915121585e-05,-0.004449032924945452],"position_m":[0.27078600849151213,-0.3601490329249455,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012374631388437796,0.001686869676838153],"position_m":[0.34493746313884377,0.2667868696768382,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034795271908551863,0.004709808533675802],"position_m":[0.3095204728091448,0.0680098085336758,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b055a97f6b03b6b94b89c5a785c86ffb5fa3fa94b1366e6970cc4c7c2025d73","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2260/tex_ceiling_textures_6368/tex_floor_textures_5513/tex_table_textures_1152/tex_wall_textures_7075","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5106174706684176388,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5106174706684176388,"visual_seed":5106174706684176388,"scene_id":"lab_003","finished_at":"2026-09-04T17:41:43"} +{"episode_id":"ep_000043","started_at":"2026-09-04T17:41:47","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.49806970809873125,-1.5560032117185163,0.71338606911949],"aabb_xy":[[-0.5112209540700206,-1.581003211475203],[-0.48491846212744194,-1.53100321196183]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[0.5851077486508118,-0.6883551036916649,0.71338606911949],"aabb_xy":[[0.5718768031161305,-0.7015825227136641],[0.5983386941854931,-0.6751276846696652]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.7041081556826367,0.7594896752911797,0.71338606911949],"aabb_xy":[[0.6890058542216184,0.7443881536601177],[0.7192104571436546,0.7745911969222413]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[-0.0635685357795428,-0.9041968457551761,0.71338606911949],"aabb_xy":[[-0.14356853720967,-0.9837140007677856],[0.016431465650584398,-0.8246796907425666]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[-0.09799834459216883,1.1581459643738414,0.71338606911949],"aabb_xy":[[-0.11233276971833228,1.1460857488193026],[-0.08366391946600538,1.1702061799283803]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.6219191328922553,-1.5121831807229011,0.71338606911949],"aabb_xy":[[0.5994191326487399,-1.5243878153826735],[0.6444191331357707,-1.4999785460631296]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[0.42209448365969204,1.7544507662416016,0.71338606911949],"aabb_xy":[[0.3320944869240818,1.701267302924307],[0.5120944803953023,1.807634229558896]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.21216218166782608,1.340642328768507,0.71338606911949],"aabb_xy":[[0.20752706651559263,1.3367749936913578],[0.2167972968200594,1.3445096638456553]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[-0.41640894341075746,1.5148268826618954,0.71338606911949],"aabb_xy":[[-0.4714089425873469,1.4598372078869375],[-0.3614089442341679,1.5698165574368528]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[-0.17299572322196444,-0.6834560590652177,0.71338606911949],"aabb_xy":[[-0.2079957214920843,-0.6905301867602057],[-0.1379957249518445,-0.6763819313702294]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.16463836687633027,-0.17342016237537417,0.71338606911949],"aabb_xy":[[-0.18154909931267202,-0.1868923679679887],[-0.14772763443998846,-0.15994795678275964]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[0.4852263944758639,0.7827773639959745,0.71338606911949],"aabb_xy":[[0.3952263921418449,0.705295009410862],[0.575226396809883,0.8602597185810873]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.5373370730070408,-1.0969889276092397,0.71338606911949],"aabb_xy":[[0.4733370715990502,-1.1487778791331642],[0.6013370744150315,-1.0451999760853148]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[-0.41359216376401947,0.9756870895553482,0.71338606911949],"aabb_xy":[[-0.4485921637405153,0.9662224735077317],[-0.37859216378752364,0.9851517056029649]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[-0.097051803173409,0.592876384158441,0.71338606911949],"aabb_xy":[[-0.1470466361013506,0.5428763852631975],[-0.0470569702454674,0.6428763830536846]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.3518570510296392,0.11105979556703094,0.71338606911949],"aabb_xy":[[-0.37435705103978756,0.09696357592742764],[-0.329357051019491,0.12515601520663422]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[-0.36617053251793996,-1.755917810042908,0.71338606911949],"aabb_xy":[[-0.3722075455186047,-1.7619445111118563],[-0.36013351951727524,-1.7498911089739602]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.01517876618513292,-2.2865648336707385,0.71338606911949],"aabb_xy":[[-0.015968152658450196,-2.3565648323575457],[0.046325685028716035,-2.2165648349839313]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[0.58178806591879,0.4738916151335433,0.71338606911949],"aabb_xy":[[0.5605100577753176,0.4088916128074702],[0.6030660740622621,0.5388916174596163]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[-0.12749827774395095,1.6884435324761093,0.71338606911949],"aabb_xy":[[-0.19249827777825368,1.641742855795782],[-0.06249827770964822,1.7351442091564366]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.5077351757715258,-0.32256239002332565,0.71338606911949],"aabb_xy":[[0.4901023401779982,-0.3401853360389486],[0.5253680113650533,-0.3049394440077027]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[-0.08169895438196073,-0.021510519549270413,0.71338606911949],"aabb_xy":[[-0.09776088184047838,-0.10651052136186222],[-0.06563702692344309,0.06348948226332139]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_22","position":[-0.5573435853749786,0.28637700541674826,0.71338606911949],"aabb_xy":[[-0.5670995748841524,0.2766144713575138],[-0.5475875958658046,0.2961395394759827]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.4976816331149019,0.11245290480583048,0.71338606911949],"aabb_xy":[[0.4427079110785691,0.05745290524159731],[0.5526553551512349,0.16745290437006366]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[0.29297469382665664,0.6630362586771592,0.71338606911949],"aabb_xy":[[0.26775385696681686,0.6378125078242722],[0.3181955306864962,0.6882600095300457]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[0.0393297154970591,-1.1763317603148296,0.71338606911949],"aabb_xy":[[-0.010670284079275616,-1.2263123392669357],[0.08932971507339382,-1.1263511813627238]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_26","position":[0.6077695828445029,-0.05123820200159113,0.71338606911949],"aabb_xy":[[0.6033389534896628,-0.05668657373627373],[0.6122002121993432,-0.04578983026690853]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[-0.5889491932002695,-0.13985580968454814,0.71338606911949],"aabb_xy":[[-0.6589491958368557,-0.1599606746804136],[-0.518949190563683,-0.11975094468868261]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_28","position":[0.2634147027621704,-1.4617726274670002,0.71338606911949],"aabb_xy":[[0.1984147001243769,-1.5132522261664472],[0.32841470539996387,-1.4102930287675532]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_29","position":[-0.5812232257783978,0.7089413676242913,0.71338606911949],"aabb_xy":[[-0.6428139850023906,0.6449413695152444],[-0.519632466554405,0.7729413657333382]]}],"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":0.6910125141317025,"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/1042.png","name":"1042"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1042.png","name":"1042"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/641.png","name":"641"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/430.png","name":"430"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1612.png","name":"1612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2992.png","name":"2992"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":694.5672648778634,"rotation_z_degrees":85.90536799526457,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016161910657698404,-0.018746378266045617,-0.016779099227318545]},{"name":"camera_2","offset_m":[0.01677460509181865,-0.010628071064151921,-0.0008905953236412328]},{"name":"camera_3","offset_m":[0.0022571766406066646,0.008013442569783556,-0.0058947734412923974]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019721536917434944,0.000780961344139062,-0.0005393529532262487],"end_effector_yaw_offset_degrees":-0.6142426155132146},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008210552083989984,-0.001750940922301664,-0.0017744250805372982],"end_effector_yaw_offset_degrees":0.17332959031795303},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00041293179908404964,-0.0006990201306639238,0.000855056366435339],"end_effector_yaw_offset_degrees":0.9472036940626569}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004255436056438843,0.0025009472983165927],"position_m":[0.2923445639435611,0.36790094729831657,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002867440821875833,-0.0025365197057273794],"position_m":[0.26783255917812415,-0.3582365197057274,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014451258421113132,0.0014919655520695616],"position_m":[0.3422548741578887,0.26659196555206954,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024188766791425577,0.0031585011286644074],"position_m":[0.31058112332085747,0.0664585011286644,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0401371a458161457cb7bb54bd1aabb2c5f70e01a8ab32b2933e4d86439091e3","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1042/tex_ceiling_textures_2992/tex_floor_textures_1612/tex_table_textures_641/tex_wall_textures_430","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8039324952329236778,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8039324952329236778,"visual_seed":8039324952329236778,"scene_id":"lab_003","finished_at":"2026-09-04T17:44:50"} +{"episode_id":"ep_000044","started_at":"2026-09-04T17:44:54","dimensions":{"distractor":{"count":24,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[-0.5524019306527713,-2.2580157492887385,0.71338606911949],"aabb_xy":[[-0.6424019292472413,-2.2742663356021597],[-0.4624019320583014,-2.241765162975318]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[-0.38175829984894966,1.3913626590264925,0.71338606911949],"aabb_xy":[[-0.4203039926741507,1.3528168879703035],[-0.3432126070237486,1.429908430082681]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[-0.10475055766643504,0.9824400238057756,0.71338606911949],"aabb_xy":[[-0.14225055608983536,0.9692758098379448],[-0.06725055924303466,0.9956042377736061]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.6190686080518806,-2.3125853344342864,0.71338606911949],"aabb_xy":[[0.5940686087799183,-2.3289306980304487],[0.6440686073238429,-2.296239970838124]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.29034963115703544,0.8619197195739865,0.71338606911949],"aabb_xy":[[-0.31534963032266855,0.85496747386863],[-0.2653496319914023,0.8688719652793432]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.10582072644432183,-0.7085279079147591,0.71338606911949],"aabb_xy":[[-0.11403527156000579,-0.7172044982124003],[-0.09760618132863783,-0.6998513176171176]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.3447969387840453,-1.1554814309337869,0.71338606911949],"aabb_xy":[[-0.40979693974117254,-1.2074296428674922],[-0.2797969378269181,-1.103533219000081]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.254876815641697,0.5905253560773893,0.71338606911949],"aabb_xy":[[-0.33487681611191294,0.5822146484630409],[-0.17487681517148104,0.5988360636917377]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[0.5004665651382569,1.4762786638908971,0.71338606911949],"aabb_xy":[[0.4878397778510606,1.4667325901893242],[0.5130933524254533,1.48582473759247]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.6094352862453494,1.7715991762681136,0.71338606911949],"aabb_xy":[[0.6054748024756151,1.7639313116825932],[0.6133957700150838,1.7792670408536344]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.5479937911589461,0.4265853643527553,0.71338606911949],"aabb_xy":[[-0.6029937893606908,0.3860633977263177],[-0.4929937929572012,0.4671073309791929]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.175106743351914,1.462124203836114,0.71338606911949],"aabb_xy":[[0.12010674417532452,1.4071345290611563],[0.2301067425285035,1.5171138786110716]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.5408287600130852,-0.8923761491955133,0.71338606911949],"aabb_xy":[[0.4768287596355515,-0.9421214160463256],[0.6048287603906187,-0.8426308823447011]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.4204582874834095,-0.6949027539969015,0.71338606911949],"aabb_xy":[[0.35545828744910685,-0.7416034306772288],[0.4854582875177123,-0.6482020773165742]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[0.548092404088746,-1.5556833759990483,0.71338606911949],"aabb_xy":[[0.4980924030696109,-1.5921495917368764],[0.5980924051078814,-1.5192171602612206]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.15683884162356854,1.230492074193804,0.71338606911949],"aabb_xy":[[-0.22083883805089047,1.1833224503717077],[-0.09283884519624666,1.2776616980159006]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.21096667985736345,-1.4083244524011085,0.71338606911949],"aabb_xy":[[-0.23455180332125827,-1.4733244546465403],[-0.18738155639346857,-1.3433244501556767]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.5223095632835499,-0.5542455445020562,0.71338606911949],"aabb_xy":[[-0.577301813919061,-0.6092455462453691],[-0.4673173126480391,-0.49924554275874355]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[0.5696305481315882,1.236475725712674,0.71338606911949],"aabb_xy":[[0.5358549889408952,1.222437230499509],[0.6034061073222812,1.2505142209258389]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[0.03821640708326457,1.3167239397353634,0.71338606911949],"aabb_xy":[[-0.025783593177206233,1.2717151403824352],[0.10221640734373538,1.3617327390882912]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[0.30661829996219403,-2.4949002969976317,0.71338606911949],"aabb_xy":[[0.29891510928811693,-2.50260966769637],[0.314321490636271,-2.4871909262988936]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[0.0315146705081808,-1.6899067972696973,0.71338606911949],"aabb_xy":[[-0.03248533154155119,-1.7300012803590052],[0.0955146725579128,-1.6498123141803893]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.381803899639721,0.982289043872695,0.71338606911949],"aabb_xy":[[-0.4458039019825225,0.9373481926285624],[-0.3178038972969194,1.0272298951168273]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[-0.5843114164328876,1.00795445920772,0.71338606911949],"aabb_xy":[[-0.5892674366177688,0.9854544590055987],[-0.5793553962480065,1.030454459409842]]}],"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":0.6897996000611474,"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/3385.png","name":"3385"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3385.png","name":"3385"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2314.png","name":"2314"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4384.png","name":"4384"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9132.png","name":"9132"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3341.png","name":"3341"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":580.4997301563214,"rotation_z_degrees":212.0886051575176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012260016757339207,-0.002398173865759405,0.00979773308325817]},{"name":"camera_2","offset_m":[-0.00424100201601588,0.0016275722180252757,0.006977883553105125]},{"name":"camera_3","offset_m":[-0.012632531995554731,-0.0012193484150797365,-0.014239822931158629]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006908624277824399,-0.00144784089491345,0.00025579742072194805],"end_effector_yaw_offset_degrees":0.5513341923497042},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012613276502253749,-0.0003473531383691589,-0.0017340550429363367],"end_effector_yaw_offset_degrees":0.9041994163819895},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013855808439786387,-0.001827265401580748,0.00039688898275874957],"end_effector_yaw_offset_degrees":0.6980533396057786}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004429444842710161,-0.0029384165217712643],"position_m":[0.2921705551572898,0.36246158347822877,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008633013566375289,0.0031575345627686798],"position_m":[0.26983669864336246,-0.35254246543723133,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0044413203070668835,0.0027795376390168216],"position_m":[0.3481413203070669,0.26787953763901684,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004992727240705958,0.0032612595037936213],"position_m":[0.317992727240706,0.06656125950379362,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"068b9c40beeb81a95631c324f4ec5887dcba39db89ffebcd2039e9e39120bcb4","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0044.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3385/tex_ceiling_textures_3341/tex_floor_textures_9132/tex_table_textures_2314/tex_wall_textures_4384","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4220098111256871979,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4220098111256871979,"visual_seed":4220098111256871979,"scene_id":"lab_003","finished_at":"2026-09-04T17:48:00"} +{"episode_id":"ep_000045","started_at":"2026-09-04T17:48:03","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.37405396959032644,0.5661820071135248,0.71338606911949],"aabb_xy":[[0.3390539696943075,0.5578077716015848],[0.40905396948634526,0.5745562426254647]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.3271209396819643,-2.473035467585118,0.71338606911949],"aabb_xy":[[0.2771435228167107,-2.523035469074366],[0.37709835654721785,-2.423035466095869]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[0.1700471275222396,-2.5191964183906546,0.71338606911949],"aabb_xy":[[0.12006831901192375,-2.569196418396373],[0.22002593603255552,-2.4691964183849353]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[0.6261682002640443,0.3810718045989887,0.71338606911949],"aabb_xy":[[0.5621681982143123,0.3409773215096807],[0.6901682023137763,0.4211662876882966]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.40943549211493524,1.303270718896345,0.71338606911949],"aabb_xy":[[0.3861536499168039,1.218270717599117],[0.4327173343130666,1.3882707201935731]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[-0.5033402526660583,0.9298690401036405,0.71338606911949],"aabb_xy":[[-0.53834025401754,0.9095093041468194],[-0.4683402513145766,0.9502287760604611]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[0.25049510801704256,-2.1674911255429214,0.71338606911949],"aabb_xy":[[0.23443318055852488,-2.2524911273555133],[0.26655703547556014,-2.0824911237303296]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.19203131129063555,-0.010757155856799816,0.71338606911949],"aabb_xy":[[-0.2075870807009009,-0.026307589101207014],[-0.17647554188037035,0.004793277387607378]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.6573933598320028,-1.5630851538349464,0.71338606911949],"aabb_xy":[[-0.6693260941938309,-1.5754673066428058],[-0.6454606254701748,-1.550703001027087]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.2745700131156684,-1.4730688966392471,0.71338606911949],"aabb_xy":[[-0.3385700095112415,-1.5370321850579807],[-0.21057001672009534,-1.4091056082205136]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.11733418196245615,-2.0525280550782643,0.71338606911949],"aabb_xy":[[-0.15163109298019678,-2.086824941288205],[-0.08303727094471552,-2.0182311688683225]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.6419685824926848,0.03316249003177507,0.71338606911949],"aabb_xy":[[0.6069685832998664,0.022195444034112437],[0.6769685816855029,0.04412953602943769]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_12","position":[0.5896477009983676,1.44534190452331,0.71338606911949],"aabb_xy":[[0.5737632077330423,1.430988964224486],[0.6055321942636926,1.459694844822134]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.026173612819911374,-1.5059786083821933,0.71338606911949],"aabb_xy":[[0.009071534861543218,-1.5230854139134629],[0.04327569077827953,-1.4888718028509234]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[0.5843611449553425,-2.2790532839057165,0.71338606911949],"aabb_xy":[[0.5560314350068024,-2.283514026099434],[0.6126908549038829,-2.274592541712]]},{"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_15","position":[-0.016194512812576667,1.3012917077253698,0.71338606911949],"aabb_xy":[[-0.025488131049727247,1.2637917092372357],[-0.006900894575426086,1.3387917062135035]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[-0.32931900303250794,-2.1200035767933194,0.71338606911949],"aabb_xy":[[-0.33731249282778997,-2.1280017087337955],[-0.3213255132372259,-2.1120054448528442]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[0.17404500552802815,1.4497741403044242,0.71338606911949],"aabb_xy":[[0.09404500226401502,1.4362141079955106],[0.2540450087920413,1.4633341726133373]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.13598346162557562,1.7523777532442515,0.71338606911949],"aabb_xy":[[-0.1485861607626521,1.739782357019386],[-0.12338076248849919,1.764973149469117]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[0.4225298544324818,-1.735841605431979,0.71338606911949],"aabb_xy":[[0.4049831595163628,-1.7733416069962302],[0.4400765493486007,-1.6983416038677277]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[0.5576155510828302,-2.179452357157981,0.71338606911949],"aabb_xy":[[0.542443381801197,-2.194621214086184],[0.5727877203644637,-2.164283500229778]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[-0.37754007884979923,-1.9831457821550744,0.71338606911949],"aabb_xy":[[-0.44754008065854467,-2.004499550919262],[-0.3075400770410538,-1.961792013390887]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[0.0449090703582824,1.1338483354878686,0.71338606911949],"aabb_xy":[[0.010446722960140589,1.0993544530900454],[0.07937141775642417,1.1683422178856908]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.23074584757246452,-2.3508438693940534,0.71338606911949],"aabb_xy":[[-0.26533693042650974,-2.4158438696790845],[-0.1961547647184193,-2.2858438691090224]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[0.6615035160634894,-0.11699654294973216,0.71338606911949],"aabb_xy":[[0.6468601105094565,-0.13165526260651644],[0.6761469216175224,-0.10233782329294787]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[0.36436064266216484,-0.6229035010283948,0.71338606911949],"aabb_xy":[[0.31438757712964943,-0.6729035008409278],[0.4143337081946804,-0.572903501215862]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[0.5600298545218017,1.2403835568407873,0.71338606911949],"aabb_xy":[[0.5050561324854689,1.185383557276554],[0.6150035765581346,1.2953835564050205]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[0.14294582302902803,1.3358241412930054,0.71338606911949],"aabb_xy":[[0.12473999936778035,1.324798740711014],[0.1611516466902757,1.3468495418749973]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[-0.20171578154844727,-0.26341828755948393,0.71338606911949],"aabb_xy":[[-0.2657157819259809,-0.31316355441029614],[-0.13771578117091365,-0.2136730207086716]]},{"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_29","position":[0.0969688617659128,-2.2826494282456373,0.71338606911949],"aabb_xy":[[0.011968863348489567,-2.3675237237079223],[0.18196886018333602,-2.1977751327833523]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_30","position":[0.531006696387305,-0.2779193891222782,0.71338606911949],"aabb_xy":[[0.45100669312946207,-0.3579158969142622],[0.611006699645148,-0.19792288133029423]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_31","position":[0.1695394081646131,-1.325706795827985,0.71338606911949],"aabb_xy":[[0.16149604823865793,-1.4107067969233513],[0.17758276809056828,-1.2407067947326185]]}],"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":0.6949592504031821,"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/5506.png","name":"5506"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5506.png","name":"5506"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/688.png","name":"688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1800.png","name":"1800"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8110.png","name":"8110"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9011.png","name":"9011"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":647.617938582281,"rotation_z_degrees":294.66330310035266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016672902052980075,-0.009264619548351671,0.003730104625429352]},{"name":"camera_2","offset_m":[-0.016158928131284816,0.019922114194623027,-0.006612700299648427]},{"name":"camera_3","offset_m":[-0.0013236238650308485,0.004735125514583428,-0.010460357455962991]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010597349668431998,-0.001368457588432988,0.0003421486767110284],"end_effector_yaw_offset_degrees":-0.9075660857053061},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021113713391248366,0.0009852553720600416,-0.0007058091273510149],"end_effector_yaw_offset_degrees":0.4504682969903546},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001527942547328717,-0.0007539745166617333,-0.00017119619593859302],"end_effector_yaw_offset_degrees":-0.49812219119302514}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037447726591063194,0.0013284389891760973],"position_m":[0.3003447726591063,0.3667284389891761,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004034515364488724,0.0013002238688211145],"position_m":[0.27473451536448873,-0.3543997761311789,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003985688061584551,0.0001041257974967423],"position_m":[0.33971431193841545,0.26520412579749675,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005891566450023141,0.0008912308344909111],"position_m":[0.3135891566450023,0.06419123083449091,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e062b86c4c787edc0f682964c4dd394d8e7e81af034ccd44a48ad7db502303f","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0045.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5506/tex_ceiling_textures_9011/tex_floor_textures_8110/tex_table_textures_688/tex_wall_textures_1800","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":7142914788395107267,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":7142914788395107267,"visual_seed":7142914788395107267,"scene_id":"lab_003","finished_at":"2026-09-04T17:51:18"} +{"episode_id":"ep_000046","started_at":"2026-09-04T17:51:22","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[-0.4227422861733852,1.048319762672966,0.71338606911949],"aabb_xy":[[-0.44525597799684247,0.9783197620719581],[-0.4002285943499281,1.1183197632739732]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.02546317548758048,-1.9727784627626246,0.71338606911949],"aabb_xy":[[-0.05977945266219842,-2.0227784627358023],[0.008853101687037457,-1.9227784627894466]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.32179181426791403,-1.4419847322171024,0.71338606911949],"aabb_xy":[[-0.38578751166301056,-1.5059847305178111],[-0.2577961168728174,-1.3779847339163938]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.49174810069798774,-2.1993640660707205,0.71338606911949],"aabb_xy":[[-0.5267481005940067,-2.2077383015826606],[-0.45674810080196887,-2.1909898305587805]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.1323935136319112,1.1793936777638052,0.71338606911949],"aabb_xy":[[-0.18640910991381116,1.115393674871548],[-0.07837791735001115,1.2433936806560624]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[-0.05089850739308066,0.6031101642594603,0.71338606911949],"aabb_xy":[[-0.06678300065840581,0.5887572239606362],[-0.035014014127755504,0.6174631045582843]]},{"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_6","position":[-0.1229322320004842,0.15086218207127278,0.71338606911949],"aabb_xy":[[-0.13222585023763478,0.11336218358313885],[-0.1136386137633336,0.18836218055940665]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[0.48983850318086697,0.42080006977148265,0.71338606911949],"aabb_xy":[[0.4258385008380654,0.3758592185273501],[0.5538385055236685,0.4657409210156151]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.2629213845073881,-1.2218906830384217,0.71338606911949],"aabb_xy":[[0.24000567162233827,-1.2447949801748455],[0.28583709739243807,-1.1989863859019985]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.14575847071565173,0.8156208064480523,0.71338606911949],"aabb_xy":[[0.12325933498942476,0.7931208056697895],[0.1682576064418787,0.8381208072263154]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.34865878060414823,1.6816378244347496,0.71338606911949],"aabb_xy":[[-0.3986537915636003,1.6316378253991581],[-0.2986637696446962,1.7316378234703416]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.3552833039613139,-0.5835657792387918,0.71338606911949],"aabb_xy":[[0.2902833060796662,-0.6346894429453327],[0.4202833018429618,-0.532442115532251]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.34778236186630473,-2.2098942656875353,0.71338606911949],"aabb_xy":[[0.32528236162278934,-2.2220989003473073],[0.37028236210982013,-2.1976896310277634]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[0.21049127718280636,0.6839619846898359,0.71338606911949],"aabb_xy":[[0.17299127723903998,0.6756688946549992],[0.2479912771265728,0.6922550747246724]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[-0.08090403507459443,0.4373287248163318,0.71338606911949],"aabb_xy":[[-0.14490403237694083,0.392962297848475],[-0.016904037772248026,0.4816951517841885]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[-0.3087418579930873,0.1824002860141296,0.71338606911949],"aabb_xy":[[-0.3987418574114581,0.14902478916993986],[-0.21874185857471634,0.2157757828583193]]},{"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_16","position":[-0.5136733815368362,1.2118101000393393,0.71338606911949],"aabb_xy":[[-0.5223713438275515,1.1996851257318646],[-0.5049754192461209,1.223935074346814]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.3919327901773042,-0.8360814959127079,0.71338606911949],"aabb_xy":[[0.3581572309866113,-0.8501199911258728],[0.42570834936799723,-0.8220430006995427]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[-0.5886996219982783,-0.8125251671529501,0.71338606911949],"aabb_xy":[[-0.6062463169143972,-0.8500251687172012],[-0.5711529270821594,-0.7750251655886987]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.044118883272417864,0.17089459242904548,0.71338606911949],"aabb_xy":[[-0.05453044195290157,0.16554885909314698],[-0.033707324591934144,0.17624032576494392]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[0.3499080984220313,-1.281766471303245,0.71338606911949],"aabb_xy":[[0.34495207823715013,-1.304266471505367],[0.35486411860691247,-1.2592664711011237]]},{"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_21","position":[-0.07803835708766105,-1.2264189976364885,0.71338606911949],"aabb_xy":[[-0.10803001982153136,-1.2564189969732888],[-0.048046694353790706,-1.1964189982996878]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[0.5277220650240222,-0.5051761970395545,0.71338606911949],"aabb_xy":[[0.49424289776298125,-0.5386553104106616],[0.5612012322850631,-0.47169708366844765]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[-0.3402275273765834,1.4892894599162045,0.71338606911949],"aabb_xy":[[-0.3752275273530792,1.479824843868588],[-0.3052275274000875,1.4987540759638212]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[-0.05136186207887716,-1.747803918571317,0.71338606911949],"aabb_xy":[[-0.055440019985926896,-1.75188489881958],[-0.047283704171827416,-1.7437229383230535]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[0.3064823610347478,-1.440047257816978,0.71338606911949],"aabb_xy":[[0.28868885409983136,-1.4578470034127757],[0.32427586796966423,-1.4222475122211804]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[0.4043212088748529,1.6165240475932214,0.71338606911949],"aabb_xy":[[0.3793212093231144,1.6063815637280867],[0.4293212084265914,1.6266665314583562]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[-0.16973559539894567,-1.3889577674543785,0.71338606911949],"aabb_xy":[[-0.2072355957471734,-1.400749163035462],[-0.13223559505071789,-1.377166371873295]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[0.4334833660715738,-2.3955529988820525,0.71338606911949],"aabb_xy":[[0.36348336966161193,-2.4159909345337334],[0.5034833624815355,-2.37511506323037]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_29","position":[0.2506222394643669,1.7094081436070492,0.71338606911949],"aabb_xy":[[0.20062912735517507,1.6594081429328542],[0.30061535157355884,1.7594081442812455]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_30","position":[-0.5012112879023677,0.47116399195877223,0.71338606911949],"aabb_xy":[[-0.5652112895803649,0.42264660047945796],[-0.4372112862243702,0.5196813834380865]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_31","position":[0.1396107630523875,-1.677641129222085,0.71338606911949],"aabb_xy":[[0.10211076276021269,-1.6816826046226887],[0.17711076334456233,-1.6735996538214817]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_32","position":[-0.6569885834443613,0.46952145897409236,0.71338606911949],"aabb_xy":[[-0.6646917741184382,0.46181208827535436],[-0.649285392770284,0.47723082967283037]]}],"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":0.6913955205000275,"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/9683.png","name":"9683"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9683.png","name":"9683"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5335.png","name":"5335"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/951.png","name":"951"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2546.png","name":"2546"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/639.png","name":"639"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":553.820406996816,"rotation_z_degrees":215.48386220826606,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013154883046091866,-0.0020049338964939177,-0.016107138998266712]},{"name":"camera_2","offset_m":[-0.0026514715750483656,-0.0058241299983618645,-0.018330606045262137]},{"name":"camera_3","offset_m":[-0.002012952276561269,-0.016081269197017366,0.008141897976218147]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015668972030976117,0.0015848795802704796,-0.0017430658311409957],"end_effector_yaw_offset_degrees":-0.339926509514791},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013491723446709355,-6.127932049100073e-05,-0.00037226027639950974],"end_effector_yaw_offset_degrees":0.8286600039695584},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000303231114903432,0.0016532221114917848,-0.00039468332786429046],"end_effector_yaw_offset_degrees":0.3498225085788971}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035437840779396533,0.004691022871827213],"position_m":[0.3001437840779396,0.3700910228718272,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015594874655471382,-0.0011129133730445571],"position_m":[0.26914051253445287,-0.35681291337304455,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00048232630313128043,0.0007548281242447741],"position_m":[0.34321767369686873,0.26585482812424477,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002035120618681099,0.004420949233071659],"position_m":[0.3150351206186811,0.06772094923307165,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69949a66a746edf3fe682f901feb338275ddc045dd4c6a52bc00c05df2cf6e95","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9683/tex_ceiling_textures_639/tex_floor_textures_2546/tex_table_textures_5335/tex_wall_textures_951","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":3612439300460740823,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":3612439300460740823,"visual_seed":3612439300460740823,"scene_id":"lab_003","finished_at":"2026-09-04T17:54:31"} +{"episode_id":"ep_000047","started_at":"2026-09-04T17:54:34","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.02297885135930655,-1.1319755385263197,0.71338606911949],"aabb_xy":[[-0.031005121989932553,-1.1407270335036725],[-0.014952580728680557,-1.1232240435489673]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[0.34705043779995415,-1.617439321784066,0.71338606911949],"aabb_xy":[[0.3396379822585657,-1.6232905322056939],[0.3544628933413426,-1.611588111362438]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[-0.5819369884851262,0.7280207193848072,0.71338606911949],"aabb_xy":[[-0.6369107105214592,0.673020719820574],[-0.5269632664487934,0.7830207189490404]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[0.3822940842531555,-2.006350230851466,0.71338606911949],"aabb_xy":[[0.37501176787649165,-2.0963502344609743],[0.38957640062981896,-1.9163502272419566]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[-0.10412832082106849,1.6286415967241674,0.71338606911949],"aabb_xy":[[-0.1841283182246619,1.5486490255259844],[-0.024128323417475072,1.70863416792235]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[-0.23403591043416194,1.1677937539297254,0.71338606911949],"aabb_xy":[[-0.3040359122429074,1.146439985165538],[-0.1640359086254165,1.1891475226939128]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.5630885107639576,1.6207577539428253,0.71338606911949],"aabb_xy":[[0.5344391784035412,1.5921121946657495],[0.5917378431243736,1.649403313219901]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[0.3663566810069334,-0.5511360059246857,0.71338606911949],"aabb_xy":[[0.3013566831252857,-0.6022596696312266],[0.4313566788885813,-0.5000123422181448]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.017744800128093097,1.0902547498533597,0.71338606911949],"aabb_xy":[[-0.05524480131288589,1.085836527157299],[0.019755201056699697,1.09467297254942]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[-0.0034265892225290306,-2.3862693840748763,0.71338606911949],"aabb_xy":[[-0.007562445555229225,-2.4237693835192338],[0.0007092671101711634,-2.3487693846305198]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.17483550278002502,-0.6137970244993693,0.71338606911949],"aabb_xy":[[-0.22481291964527858,-0.6637970259886178],[-0.12485808591477142,-0.5637970230101207]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.22343421944074737,-2.308336644662722,0.71338606911949],"aabb_xy":[[-0.230475670391495,-2.3153633964005165],[-0.2163927684899998,-2.3013098929249276]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.40766757323156055,-0.793550363535872,0.71338606911949],"aabb_xy":[[-0.4876675764955737,-0.8071103958447855],[-0.3276675699675474,-0.7799903312269588]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[0.25867967508527145,-1.7960685518109885,0.71338606911949],"aabb_xy":[[0.1986796745774185,-1.8529152854969098],[0.3186796755931243,-1.7392218181250672]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.358845304208151,-0.8591624018634791,0.71338606911949],"aabb_xy":[[0.33429908858540025,-0.8894112984125162],[0.3833915198309017,-0.8289135053144421]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.14911407827864676,-1.5923962651443042,0.71338606911949],"aabb_xy":[[-0.157895305425883,-1.6011760124328347],[-0.14033285113141056,-1.5836165178557742]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.27143415438295343,0.9982537625211729,0.71338606911949],"aabb_xy":[[-0.28893415366104025,0.980915662454827],[-0.2539341551048665,1.0155918625875189]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.1398026185942275,0.18497448580653364,0.71338606911949],"aabb_xy":[[-0.19381821487612746,0.12097448291427648],[-0.08578702231232746,0.2489744886987908]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.21959952195457821,0.8791516984976919,0.71338606911949],"aabb_xy":[[0.18513704394149041,0.872488021314769],[0.254061999967666,0.8858153756806146]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[0.38513274728058167,-1.0451748870720603,0.71338606911949],"aabb_xy":[[0.3501327480877633,-1.0561419330697228],[0.4201327464733998,-1.0342078410743973]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.6198898683854807,-1.1567416946534321,0.71338606911949],"aabb_xy":[[-0.6307956444730434,-1.2367416910522613],[-0.608984092297918,-1.076741698254603]]}],"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":0.6945371121846114,"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/6482.png","name":"6482"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6482.png","name":"6482"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5495.png","name":"5495"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2731.png","name":"2731"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9861.png","name":"9861"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3078.png","name":"3078"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":549.8579000177282,"rotation_z_degrees":18.217399628220434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008021761372667496,-0.005534162184022317,0.005090975796422332]},{"name":"camera_2","offset_m":[0.011090981333825016,-0.005007385012594163,0.009774194393559123]},{"name":"camera_3","offset_m":[0.019263735792918287,0.002013893250274325,-0.01072398356300274]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00015739160897707515,0.0007147308395595536,0.00062998634574749],"end_effector_yaw_offset_degrees":0.3239147068923638},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017473957317845521,-0.0009095648385262591,0.00033019732455626897],"end_effector_yaw_offset_degrees":0.9275659305126727},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016154826473528654,-4.7034683142904926e-05,-0.0012295983504689372],"end_effector_yaw_offset_degrees":-0.6436035962786213}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00015213877730356658,1.446807636628928e-05],"position_m":[0.2964478612226964,0.3654144680763663,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034041602580057234,0.0010651285346596163],"position_m":[0.2741041602580057,-0.3546348714653404,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017379291618426817,0.0007996528119097604],"position_m":[0.3454379291618427,0.26589965281190975,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021211018825555428,-0.0015391371526128164],"position_m":[0.31087889811744446,0.06176086284738718,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d54ceda6374afc801bb16ce494beb94098b65ecb995b66e4c93ddca095cbf874","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6482/tex_ceiling_textures_3078/tex_floor_textures_9861/tex_table_textures_5495/tex_wall_textures_2731","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6113544084648220277,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6113544084648220277,"visual_seed":6113544084648220277,"scene_id":"lab_003","finished_at":"2026-09-04T17:57:39"} +{"episode_id":"ep_000048","started_at":"2026-09-04T17:57:43","dimensions":{"distractor":{"count":35,"items":[{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_0","position":[-0.5223362643661957,-0.8387864844992767,0.71338606911949],"aabb_xy":[[-0.6023362654393161,-0.8485645308366611],[-0.4423362632930754,-0.8290084381618922]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[-0.5699537645368238,1.7868490419302074,0.71338606911949],"aabb_xy":[[-0.6339537618391702,1.7424826149623505],[-0.5059537672344774,1.831215468898064]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.3699454953956893,-1.5405928294236924,0.71338606911949],"aabb_xy":[[0.34129616303527305,-1.569238388700768],[0.3985948277561055,-1.5119472701466163]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.11914573651749705,0.19384680249820807,0.71338606911949],"aabb_xy":[[-0.19914573978151018,0.18028677018929473],[-0.03914573325348393,0.2074068348071214]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.04479826096125539,1.260493731943611,0.71338606911949],"aabb_xy":[[-0.0818323703893151,1.2261165246099013],[-0.007764151533195672,1.29487093927732]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.26484534737866405,1.1119517661645903,0.71338606911949],"aabb_xy":[[0.25427786772056504,1.1014067360515818],[0.27541282703676306,1.122496796277599]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.2964747510434659,-1.7360861585427942,0.71338606911949],"aabb_xy":[[-0.32431978782407306,-1.7668706572811057],[-0.2686297142628588,-1.7053016598044823]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[-0.314084191916407,-0.2741845161724159,0.71338606911949],"aabb_xy":[[-0.3780841952061151,-0.31751943517633346],[-0.25008418862669884,-0.23084959716849826]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.5515218760519813,-0.3058799900559901,0.71338606911949],"aabb_xy":[[0.5302438679085091,-0.37087999238206315],[0.5727998841954536,-0.24087998772991703]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[-0.2736531423581835,1.5975851257455456,0.71338606911949],"aabb_xy":[[-0.32364625446737544,1.5475851250713502],[-0.22366003024899167,1.6475851264197414]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[-0.6841177202794434,0.934824947464957,0.71338606911949],"aabb_xy":[[-0.6928316893293778,0.9123249468057686],[-0.6754037512295088,0.957324948124145]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.030993198383825638,1.754695631709644,0.71338606911949],"aabb_xy":[[-0.07229774144756163,1.690695632141527],[0.010311344679910347,1.8186956312777611]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.6423947490933425,0.3602784832904993,0.71338606911949],"aabb_xy":[[-0.6615070564513215,0.3411437044132573],[-0.6232824417353637,0.37941326216774135]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.5562811341303185,-0.40247617785823486,0.71338606911949],"aabb_xy":[[-0.5678501148772551,-0.42747617797516657],[-0.544712153383382,-0.37747617774130315]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[0.07991444044193752,-1.776681442007889,0.71338606911949],"aabb_xy":[[0.07458192578732453,-1.7820057702531247],[0.0852469550965505,-1.7713571137626536]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.10817950262428622,-2.083922599247124,0.71338606911949],"aabb_xy":[[0.05820620862102577,-2.133922599801671],[0.15815279662754667,-2.0339225986925764]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[-0.5420967568133486,-1.9685518573377205,0.71338606911949],"aabb_xy":[[-0.5683855811337891,-1.9948232909923713],[-0.5158079324929078,-1.9422804236830689]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.5600207728867073,-1.302784465865255,0.71338606911949],"aabb_xy":[[0.49602077054390575,-1.3477253171093873],[0.6240207752295088,-1.2578436146211223]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[-0.16619732013438748,-1.9085721994529505,0.71338606911949],"aabb_xy":[[-0.20051359730900542,-1.958572199426128],[-0.13188104295976955,-1.8585721994797726]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.6528222089315039,-0.32715235152627775,0.71338606911949],"aabb_xy":[[-0.6896727568684915,-0.3646523523493115],[-0.6159716609945163,-0.289652350703244]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[-0.1584166476613822,-1.6398958240863037,0.71338606911949],"aabb_xy":[[-0.2084166486805175,-1.676362039824132],[-0.10841664664224696,-1.603429608348476]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.4487077492005929,-0.7204887692034407,0.71338606911949],"aabb_xy":[[-0.4791919993276231,-0.7704887689849367],[-0.41822349907356277,-0.6704887694219448]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.47356405974167604,-1.6650660769380914,0.71338606911949],"aabb_xy":[[-0.5085640597181719,-1.674530692985708],[-0.4385640597651802,-1.6556014608904748]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[-0.1468515793417955,0.2665194663973862,0.71338606911949],"aabb_xy":[[-0.15484556791949886,0.2585193863022958],[-0.13885759076409207,0.2745195464924765]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.08953789660931422,1.3977303948112296,0.71338606911949],"aabb_xy":[[-0.09895537117917697,1.3883142176735106],[-0.08012042203945147,1.4071465719489487]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[0.4111467300671201,-0.6520777728798051,0.71338606911949],"aabb_xy":[[0.4015150938466905,-0.6617150856595139],[0.4207783662875497,-0.642440460100096]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_26","position":[0.5784532801544036,-2.5495201152524363,0.71338606911949],"aabb_xy":[[0.5416586470294973,-2.5864259903490185],[0.6152479132793098,-2.512614240155854]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_27","position":[0.5141130670234144,-2.2475518364935505,0.71338606911949],"aabb_xy":[[0.4341192434448563,-2.327551839086392],[0.5941068906019727,-2.167551833900709]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_28","position":[-0.18170899291915343,-1.0986025484020618,0.71338606911949],"aabb_xy":[[-0.20059337668766367,-1.1174884731824146],[-0.16282460915064326,-1.079716623621709]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_29","position":[0.4994426112401309,0.756967083179287,0.71338606911949],"aabb_xy":[[0.4394426113935641,0.7001484609862483],[0.5594426110866977,0.8137857053723256]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_30","position":[-0.3360228462535941,-1.5360205872818051,0.71338606911949],"aabb_xy":[[-0.3394635224936513,-1.5398820202561698],[-0.33258217001353696,-1.5321591543074409]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_31","position":[-0.023863932153576517,0.7659469721725922,0.71338606911949],"aabb_xy":[[-0.061363932945571964,0.7595791312144021],[0.013636068638418933,0.7723148131307823]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_32","position":[-0.4039585973665633,0.9654332926213232,0.71338606911949],"aabb_xy":[[-0.4112409137432269,0.875433289011814],[-0.3966762809898996,1.055433296230832]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_33","position":[0.31172705221358243,1.2006748127486828,0.71338606911949],"aabb_xy":[[0.2782868770175627,1.1672311869177523],[0.34516722740960193,1.2341184385796125]]},{"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_34","position":[0.335469393335053,-1.0574677339865866,0.71338606911949],"aabb_xy":[[0.2504693949176297,-1.1423420294488715],[0.42046939175247616,-0.9725934385243016]]}],"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":0.693542988881042,"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/8580.png","name":"8580"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8580.png","name":"8580"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3215.png","name":"3215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3744.png","name":"3744"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5287.png","name":"5287"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/477.png","name":"477"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":715.6557301897532,"rotation_z_degrees":135.90373261076357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012468840820384984,0.00904751014885679,-0.009962834641919414]},{"name":"camera_2","offset_m":[0.017863045483660345,-0.011653852979948129,-0.01777672449496854]},{"name":"camera_3","offset_m":[-0.008200412608501692,0.005898147419829431,0.011962497436402753]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000338223130488913,0.0006618127045417256,0.0001782039833021264],"end_effector_yaw_offset_degrees":-0.9149961149243802},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00038013484662605644,0.0002435463319101776,0.0013091191645114267],"end_effector_yaw_offset_degrees":0.9664995966265373},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006748388228849434,0.0002598802761373804,0.0019283182166590735],"end_effector_yaw_offset_degrees":0.69677020114399}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008642871510372539,0.003851390165676886],"position_m":[0.2957357128489627,0.3692513901656769,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005787234212983137,-0.003642369729645483],"position_m":[0.27012127657870166,-0.3593423697296455,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003068947079342333,9.854269953654248e-05],"position_m":[0.34676894707934236,0.2651985426995365,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004142765196075548,-0.00036641579868890595],"position_m":[0.31341427651960757,0.0629335842013111,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d77d800b2d7ca719d491f878262ffcc4ae08e31f411ee2dd339214b09b96ff9e","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8580/tex_ceiling_textures_477/tex_floor_textures_5287/tex_table_textures_3215/tex_wall_textures_3744","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":7610600866898089035,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":7610600866898089035,"visual_seed":7610600866898089035,"scene_id":"lab_003","finished_at":"2026-09-04T18:00:48"} +{"episode_id":"ep_000049","started_at":"2026-09-04T18:00:52","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.6063162818009067,1.0681100328452122,0.71338606911949],"aabb_xy":[[0.5784712450202996,1.0373255341069005],[0.6341613185815138,1.098894531583524]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.1571183042488029,-2.3500540808661614,0.71338606911949],"aabb_xy":[[0.14001622629043473,-2.367160886397431],[0.17422038220717104,-2.3329472753348917]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[0.07037691694887116,-0.7490422149875373,0.71338606911949],"aabb_xy":[[0.02429182569413969,-0.8130422122400924],[0.11646200820360264,-0.6850422177349822]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[-0.5661794011298609,1.6794219040339118,0.71338606911949],"aabb_xy":[[-0.6361794037664471,1.659317039038046],[-0.4961793984932744,1.699526769029777]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[-0.04420997197432919,1.6259137089011904,0.71338606911949],"aabb_xy":[[-0.099209970176074,1.5853917422747525],[0.010790026227415655,1.6664356755276277]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.6344612773826909,0.8983484340526116,0.71338606911949],"aabb_xy":[[-0.684445513090868,0.8483484352391161],[-0.5844770416745135,0.9483484328661073]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.4740494752913931,1.0616691220331802,0.71338606911949],"aabb_xy":[[0.4644178390709634,1.052031809253471],[0.48368111151182264,1.071306434812889]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.4832497167753015,0.9212396588088199,0.71338606911949],"aabb_xy":[[-0.5084705536351412,0.8960159079559329],[-0.4580288799154619,0.9464634096617064]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.5417898927606367,-1.9396020927866822,0.71338606911949],"aabb_xy":[[-0.5499175809539499,-1.9485157011973897],[-0.5336622045673235,-1.9306884843759742]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[-0.3578932537459338,-0.629991079854163,0.71338606911949],"aabb_xy":[[-0.3953932545379292,-0.636358920812353],[-0.3203932529539383,-0.6236232388959728]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.2505169344854964,-0.2140271176824835,0.71338606911949],"aabb_xy":[[-0.2918214775492324,-0.2780271172506006],[-0.2092123914217604,-0.15002711811436642]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[0.5675410983827591,1.2148361124357652,0.71338606911949],"aabb_xy":[[0.5175410967212642,1.1648376701800622],[0.6175411000442538,1.2648345546914677]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[-0.16871412343008718,0.363155946212141,0.71338606911949],"aabb_xy":[[-0.23871411984004895,0.34271801056045914],[-0.09871412702012537,0.3835938818638226]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.4179853818229151,-1.764427973491732,0.71338606911949],"aabb_xy":[[0.3680079649576615,-1.8144279749809804],[0.4679627986881687,-1.7144279720024833]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.1918170712417272,-1.0101396108919916,0.71338606911949],"aabb_xy":[[0.11181706907896469,-1.0900947945181352],[0.2718170734044897,-0.9301844272658479]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.1531725720724043,0.8848035020644516,0.71338606911949],"aabb_xy":[[0.11567257349678349,0.8720672064008936],[0.1906725706480251,0.8975397977280095]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.19078805420728484,1.727048757488442,0.71338606911949],"aabb_xy":[[0.1495392431773701,1.6720487579762244],[0.23203686523719957,1.7820487570006593]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[-0.3251933743555581,-1.6682272899386799,0.71338606911949],"aabb_xy":[[-0.3751926495239943,-1.7182272912146273],[-0.27519409918712195,-1.618227288662733]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.3464924427345675,-1.6141667404921751,0.71338606911949],"aabb_xy":[[0.30969780960966126,-1.6510726155887574],[0.3832870758594738,-1.5772608653955928]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.2537403612345279,1.6627040776873714,0.71338606911949],"aabb_xy":[[-0.3177403644531658,1.615980965788363],[-0.18974035801589006,1.7094271895863797]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.42577696239640517,1.3595247748630097,0.71338606911949],"aabb_xy":[[0.39712763003598894,1.330879215585934],[0.4544262947568214,1.3881703341400855]]}],"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":0.6949690672471757,"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/4241.png","name":"4241"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4241.png","name":"4241"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9497.png","name":"9497"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2572.png","name":"2572"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/700.png","name":"700"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6160.png","name":"6160"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":549.075133017568,"rotation_z_degrees":284.06650748959464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00943851051410897,-0.013393703175285978,0.016200246956080983]},{"name":"camera_2","offset_m":[-0.01221431505827391,-0.014370899044448545,0.014943589260655098]},{"name":"camera_3","offset_m":[-0.017948228360273974,-0.017059885493773734,0.0007992820615640092]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014373782065987837,-0.0006196873787002025,0.0007647568611531112],"end_effector_yaw_offset_degrees":-0.010590619350780317},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001710553798277541,0.0011735380603527714,0.0011833389920794298],"end_effector_yaw_offset_degrees":-0.6672744587825703},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017813257219006528,-0.0002307373561015087,-3.0303858358566704e-05],"end_effector_yaw_offset_degrees":0.26973840261824256}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00016517240580936256,0.0008042962441525796],"position_m":[0.2964348275941906,0.36620429624415257,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002696518712235237,-0.0009661274106389176],"position_m":[0.27339651871223525,-0.3566661274106389,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016955065774751244,-0.00448832954859127],"position_m":[0.34200449342252487,0.2606116704514087,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006881653210550846,-0.0046913694227460855],"position_m":[0.3123118346789449,0.058608630577253906,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"72847f0fbefaf9726bfe71e1e0f320aee990e3226d662a7150a2e5538e6b9f67","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0049.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4241/tex_ceiling_textures_6160/tex_floor_textures_700/tex_table_textures_9497/tex_wall_textures_2572","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4897530928237015985,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4897530928237015985,"visual_seed":4897530928237015985,"scene_id":"lab_003","finished_at":"2026-09-04T18:03:58"} +{"episode_id":"ep_000050","started_at":"2026-09-04T18:04:01","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[0.28744419006633604,1.2027624405882698,0.71338606911949],"aabb_xy":[[0.26981135447280846,1.1851394945726466],[0.3050770256598636,1.2203853866038925]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[0.6981791096773229,0.0670977218425226,0.71338606911949],"aabb_xy":[[0.6901427749760379,0.05905960253810581],[0.7062154443786076,0.07513584114693937]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[0.6570937510512516,-2.2063720453978606,0.71338606911949],"aabb_xy":[[0.6451610166894234,-2.21875419820572],[0.6690264854130795,-2.193989892590001]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[-0.21135142191815282,-0.24348245471759222,0.71338606911949],"aabb_xy":[[-0.2913514189324008,-0.2636170063910035],[-0.13135142490390483,-0.22334790304418095]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.34966359361876775,-0.8290849501835775,0.71338606911949],"aabb_xy":[[0.34153590542545453,-0.8379985585942852],[0.357791281812081,-0.8201713417728699]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.5947178415956307,-1.2926696625452634,0.71338606911949],"aabb_xy":[[0.5684290172751899,-1.3189410961999146],[0.6210066659160712,-1.2663982288906122]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.5604808680180415,-0.23394308005420728,0.71338606911949],"aabb_xy":[[0.5532371019717962,-0.31394307825780965],[0.5677246340642869,-0.1539430818506049]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[0.3096581460578589,-2.1719137754480755,0.71338606911949],"aabb_xy":[[0.3023968984874515,-2.184700785711585],[0.3169193936282663,-2.159126765184566]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.5362849970194559,1.3521896811225136,0.71338606911949],"aabb_xy":[[0.47469423779546305,1.2881896830134667],[0.5978757562434487,1.4161896792315605]]},{"name":"lh_cell_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_9","position":[-0.33844227514370057,-1.264458199642,0.71338606911949],"aabb_xy":[[-0.40244227584716996,-1.310476582114921],[-0.2744422744402312,-1.218439817169079]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[-0.3349600242265293,1.4275885210440165,0.71338606911949],"aabb_xy":[[-0.39496002407309605,1.3707698988509776],[-0.2749600243799625,1.484407143237055]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.3904932739812974,0.4014858784446038,0.71338606911949],"aabb_xy":[[0.36597964988429155,0.3772212851425673],[0.41500689807830327,0.4257504717466402]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[0.35330197421483023,-1.245014636452019,0.71338606911949],"aabb_xy":[[0.32830197504919717,-1.2519668821573755],[0.3783019733804634,-1.2380623907466624]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[0.4662560167897236,0.6546209326793329,0.71338606911949],"aabb_xy":[[0.4164392373248889,0.6046209341950296],[0.5160727962545584,0.7046209311636363]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.18909618723794497,-2.045047035928971,0.71338606911949],"aabb_xy":[[-0.2115609572093501,-2.0675470368078317],[-0.16663141726653985,-2.0225470350501107]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[-0.6187312620217337,-1.7514283994040958,0.71338606911949],"aabb_xy":[[-0.6406210096106744,-1.8414283966933451],[-0.5968415144327928,-1.6614284021148469]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[-0.09774121268668223,-1.8742210024925339,0.71338606911949],"aabb_xy":[[-0.1877412124098564,-1.8972943550277133],[-0.007741212963508048,-1.8511476499573536]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.23705402534168735,-2.5325065891113985,0.71338606911949],"aabb_xy":[[-0.3020540262988145,-2.5844548010451036],[-0.1720540243845601,-2.4805583771776925]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[-0.5177268604905146,0.9038276252173381,0.71338606911949],"aabb_xy":[[-0.5488737793340978,0.833827626530531],[-0.4865799416469315,0.9738276239041453]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.2369681958691724,-2.4574443578601026,0.71338606911949],"aabb_xy":[[0.18696819722325117,-2.5073639015195646],[0.2869681945150936,-2.40752481420064]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[-0.008109916574174925,-2.237180017556567,0.71338606911949],"aabb_xy":[[-0.014611553082179542,-2.2469478395828766],[-0.0016082800661703076,-2.227412195530257]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[-0.053593932418031676,0.45380418207918893,0.71338606911949],"aabb_xy":[[-0.07859393235054957,0.4469215138582656],[-0.028593932485513784,0.46068685030011225]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[-0.01913717175850138,0.9689686656351961,0.71338606911949],"aabb_xy":[[-0.0841371727590019,0.9181823004805212],[0.04586282924199914,1.019755030789871]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.6935448826394359,1.4006443956313723,0.71338606911949],"aabb_xy":[[0.670629169754386,1.3777400984949488],[0.7164605955244858,1.4235486927677958]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_24","position":[-0.1504167032585726,-1.493422979784144,0.71338606911949],"aabb_xy":[[-0.23041670022161173,-1.5704986214279175],[-0.0704167062955334,-1.4163473381403706]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[-0.42804311798534106,1.7021531919616977,0.71338606911949],"aabb_xy":[[-0.4479341578656813,1.689497380677001],[-0.4081520781050008,1.7148090032463947]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_26","position":[-0.2055377339498891,0.49210029690192414,0.71338606911949],"aabb_xy":[[-0.25553084605908105,0.4421002962277286],[-0.15554462184069723,0.5421002975761199]]}],"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":0.6899965128348714,"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/3100.png","name":"3100"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3100.png","name":"3100"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6821.png","name":"6821"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8531.png","name":"8531"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3619.png","name":"3619"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4400.png","name":"4400"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":574.8714966264373,"rotation_z_degrees":182.82790548242744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006827190028292355,-0.017266124431666603,-0.006463899359685131]},{"name":"camera_2","offset_m":[0.007497391995664678,-0.009720997552639412,0.005850492489490832]},{"name":"camera_3","offset_m":[0.01662020169549618,0.009092912768691258,0.010389339589745965]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[2.8815362924870455e-05,-0.001910072796203945,-0.0014116908304720862],"end_effector_yaw_offset_degrees":-0.4262907110660057},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001614876495390992,-0.0018409529521415116,0.0019395246816950804],"end_effector_yaw_offset_degrees":0.6673013007050614},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015038107666944652,0.0019683542110920053,-0.0002861954653100968],"end_effector_yaw_offset_degrees":0.536870519670118}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016635734219785595,-0.001704296467509703],"position_m":[0.2982635734219785,0.3636957035324903,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018507858911052076,0.0011187767457362472],"position_m":[0.2688492141088948,-0.3545812232542638,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00448696027847359,-0.0048115972757452035],"position_m":[0.3392130397215264,0.2602884027242548,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002688468124950585,0.001390830982103435],"position_m":[0.3103115318750494,0.06469083098210343,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4b8ecb6e4abf25986375ed67d7722da7a24ac79e81a1d512a9de7312e27049bf","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0050.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3100/tex_ceiling_textures_4400/tex_floor_textures_3619/tex_table_textures_6821/tex_wall_textures_8531","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2643617644942870101,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2643617644942870101,"visual_seed":2643617644942870101,"scene_id":"lab_003","finished_at":"2026-09-04T18:07:03"} +{"episode_id":"ep_000051","started_at":"2026-09-04T18:07:08","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.4332164997138395,-0.9100627481822179,0.71338606911949],"aabb_xy":[[-0.4507164989919263,-0.9274008482485637],[-0.41571650043575253,-0.8927246481158718]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.4466149623150461,0.9861995150031584,0.71338606911949],"aabb_xy":[[-0.5106149626925798,0.9364542481523461],[-0.38261496193751243,1.0359447818539707]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[0.4924558723534074,1.1101519156990305,0.71338606911949],"aabb_xy":[[0.48519462478299996,1.097364905435521],[0.4997171199238148,1.12293892596254]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.33980621750560214,-0.5975756977734243,0.71338606911949],"aabb_xy":[[-0.40380621480794854,-0.6419421247412812],[-0.27580622020325574,-0.5532092708055677]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[-0.22211888872338587,1.1658520568259139,0.71338606911949],"aabb_xy":[[-0.24217730033662616,1.1457869699167567],[-0.20206047711014558,1.1859171437350715]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.0859898501543177,-1.1204323617766951,0.71338606911949],"aabb_xy":[[0.05152737214122992,-1.1270960389596179],[0.12045232816740546,-1.113768684593772]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[-0.6432291836122522,1.6650979254950147,0.71338606911949],"aabb_xy":[[-0.6496429972554371,1.6586881052473461],[-0.6368153699690672,1.6715077457426828]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.5751230352568841,-1.7790020719343111,0.71338606911949],"aabb_xy":[[0.5426613343749566,-1.8091349040492135],[0.6075847361388115,-1.7488692398194083]]},{"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_8","position":[0.6946438414366969,-2.5265176715455495,0.71338606911949],"aabb_xy":[[0.6853502231995463,-2.564017670033683],[0.7039374596738475,-2.489017673057415]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.7023937067456374,-1.2727259358712935,0.71338606911949],"aabb_xy":[[0.6979630773907972,-1.2781743076059764],[0.7068243361004776,-1.267277564136611]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.6229349497475091,0.5541110793875736,0.71338606911949],"aabb_xy":[[-0.6302172661241725,0.4641110757780646],[-0.6156526333708452,0.6441110829970825]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.5613387887715418,-1.9175706979496994,0.71338606911949],"aabb_xy":[[0.5238387903481413,-1.93073491191753],[0.598838787194942,-1.9044064839818686]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.2782339206494742,-1.4721224068954633,0.71338606911949],"aabb_xy":[[-0.3065636305980145,-1.4765831490891805],[-0.24990421070093405,-1.4676616647017464]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[-0.5481139943096949,-2.0865369954294337,0.71338606911949],"aabb_xy":[[-0.6121139966524964,-2.131477846673566],[-0.48411399196689336,-2.041596144185301]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.29821169735433356,1.1671958981235697,0.71338606911949],"aabb_xy":[[-0.30228985526138336,1.1631149178753064],[-0.2941335394472839,1.171276878371833]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.328227863211283,0.799379960362756,0.71338606911949],"aabb_xy":[[-0.33593105388536,0.7916705896640178],[-0.3205246725372059,0.8070893310614938]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.541387923945001,0.714076746162414,0.71338606911949],"aabb_xy":[[-0.6213879250181213,0.7042986998250296],[-0.4613879228718807,0.7238547924997984]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[-0.15034224102549143,-1.1369857548227618,0.71338606911949],"aabb_xy":[[-0.22034224441705338,-1.1723015285261924],[-0.08034223763392943,-1.1016699811193307]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.6464116332850267,1.500124659185198,0.71338606911949],"aabb_xy":[[0.6338089341479503,1.4875292629603325],[0.6590143324221032,1.5127200554100635]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.4476418300788242,-0.3783724210424313,0.71338606911949],"aabb_xy":[[-0.469814357055475,-0.40054808819855436],[-0.4254693031021733,-0.35619675388630806]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.27627631331585034,0.6489274534874121,0.71338606911949],"aabb_xy":[[-0.30127631258781257,0.6325820898912498],[-0.251276314043888,0.6652728170835744]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[0.2532490126824062,-1.2753353212705014,0.71338606911949],"aabb_xy":[[0.20825642596395577,-1.3203353205449502],[0.2982415994008566,-1.2303353219960527]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[0.3869917637218432,1.8020396345361163,0.71338606911949],"aabb_xy":[[0.3693161331332448,1.7843594182567137],[0.40466739431044146,1.8197198508155192]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[-0.3610473763421584,-1.064914372742486,0.71338606911949],"aabb_xy":[[-0.42504737802015574,-1.1134317642218],[-0.29704737466416103,-1.0163969812631715]]}],"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":0.6962671555262696,"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/4818.png","name":"4818"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4818.png","name":"4818"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2576.png","name":"2576"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2968.png","name":"2968"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4980.png","name":"4980"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5906.png","name":"5906"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":766.8747486126452,"rotation_z_degrees":280.9782548687795,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01750235867754722,-0.010860321085273133,0.0005098142064385754]},{"name":"camera_2","offset_m":[-0.006755138535634387,-0.01577084505363898,-0.004770029463425649]},{"name":"camera_3","offset_m":[-0.011490615463797735,0.015590522602720713,-0.004372501878377587]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00039864281035119136,9.344289688267837e-05,-0.00040211250480738647],"end_effector_yaw_offset_degrees":-0.3303952762488602},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[2.4651354713105776e-05,-0.0016803976064632092,0.0007971450195295867],"end_effector_yaw_offset_degrees":0.47846340583861435},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006996923109447994,0.0001495172607107187,-0.00035718061616063414],"end_effector_yaw_offset_degrees":-0.6586484141106317}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004673829635562367,-0.0028901577162456418],"position_m":[0.29192617036443763,0.3625098422837544,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004423923041185481,-0.0006046968994598582],"position_m":[0.2751239230411855,-0.35630469689945987,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002388622024715608,-0.004042406597261152],"position_m":[0.34608862202471563,0.2610575934027389,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004554107450349028,0.0037396377676124264],"position_m":[0.317554107450349,0.06703963776761242,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7e3722d56948bdd689ac0b2265b1cf1a88435f5843e560ffaf9c947b1c17ea09","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4818/tex_ceiling_textures_5906/tex_floor_textures_4980/tex_table_textures_2576/tex_wall_textures_2968","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2625520507246062833,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2625520507246062833,"visual_seed":2625520507246062833,"scene_id":"lab_003","finished_at":"2026-09-04T18:10:13"} +{"episode_id":"ep_000052","started_at":"2026-09-04T18:10:17","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.6160581546814727,1.3087818384641765,0.71338606911949],"aabb_xy":[[0.5660581536623375,1.2723156227263488],[0.666058155700608,1.3452480542020047]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.06012865109994292,-1.1441304832748205,0.71338606911949],"aabb_xy":[[-0.019871352157900035,-1.2241269910668044],[0.14012865435778588,-1.0641339754828365]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.5764302568286346,1.6739886801239687,0.71338606911949],"aabb_xy":[[-0.5933409892649764,1.6605164745313539],[-0.5595195243922928,1.6874608857165831]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.5198089596716007,-1.2403330857246997,0.71338606911949],"aabb_xy":[[-0.5749341653011913,-1.3003330871659868],[-0.46468375404200984,-1.1803330842834125]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.28621686877360797,0.657995736916182,0.71338606911949],"aabb_xy":[[-0.3125056930940486,0.6317243032615305],[-0.25992804445316725,0.684267170570833]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[0.34398884864641155,-1.091245237092088,0.71338606911949],"aabb_xy":[[0.29401004013609566,-1.1412452370978068],[0.39396765715672744,-1.0412452370863692]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.33513795402082164,-2.1372880495051128,0.71338606911949],"aabb_xy":[[-0.3423817200670669,-2.217288047708715],[-0.32789418797457626,-2.0572880513015104]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.0760258457191968,1.6007581452879829,0.71338606911949],"aabb_xy":[[-0.14002584893783465,1.5540350333889748],[-0.012025842500558936,1.6474812571869915]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[0.5860136992327287,-2.4437197422455545,0.71338606911949],"aabb_xy":[[0.5811701044714987,-2.4485713947245387],[0.5908572939939587,-2.4388680897665704]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[0.40757158208826016,-2.129340394424627,0.71338606911949],"aabb_xy":[[0.3901408670092536,-2.146612509088478],[0.4250022971672666,-2.1120682797607757]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.36513797599510406,1.3839330434459747,0.71338606911949],"aabb_xy":[[-0.42913797310720975,1.3349006736515643],[-0.30113797888299837,1.4329654132403855]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.44249792296908674,-1.685448651182071,0.71338606911949],"aabb_xy":[[-0.47749792216190495,-1.6964156971797333],[-0.4074979237762684,-1.6744816051844083]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.0947795885026187,0.9903964979347557,0.71338606911949],"aabb_xy":[[0.060317241104476886,0.9559026155369329],[0.12924193590076047,1.0248903803325782]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.5199254037509332,0.8364212677254437,0.71338606911949],"aabb_xy":[[-0.5428411166359832,0.8135169705890203],[-0.4970096908658834,0.8593255648618673]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[0.5265055722498964,-0.45267989672433995,0.71338606911949],"aabb_xy":[[0.5015055726981579,-0.46282238058947467],[0.5515055718016348,-0.4425374128592052]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[-0.10284667603477193,-2.4800290566056615,0.71338606911949],"aabb_xy":[[-0.166846672430345,-2.5439923450243946],[-0.03884667963919884,-2.4160657681869275]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.4492185875380899,-0.37951774290368734,0.71338606911949],"aabb_xy":[[-0.48353486471270785,-0.429517742876865],[-0.41490231036347197,-0.32951774293050956]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[-0.16103964944251736,-1.989176107275163,0.71338606911949],"aabb_xy":[[-0.22503964970298818,-2.0341849066280906],[-0.09703964918204656,-1.944167307922235]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[0.41384480132061086,-0.6381178329921695,0.71338606911949],"aabb_xy":[[0.39616917073201247,-0.6557980492715721],[0.43152043190920913,-0.6204376167127666]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[-0.14605210292493975,-0.3689490019780073,0.71338606911949],"aabb_xy":[[-0.2360521026481139,-0.3920223545131871],[-0.05605210320176556,-0.34587564944282745]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[0.1547675254504921,-1.3315907486637601,0.71338606911949],"aabb_xy":[[0.15033689609565196,-1.3370391203984429],[0.1591981548053323,-1.3261423769290779]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_21","position":[0.13723024071392942,0.6505055419850096,0.71338606911949],"aabb_xy":[[0.057230242733144386,0.6429040010231577],[0.21723023869471447,0.6581070829468616]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[0.31526129574166806,1.543739512404286,0.71338606911949],"aabb_xy":[[0.2654445162768333,1.4937395139199827],[0.3650780752065028,1.5937395108885895]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[-0.6072584589517025,0.6490207889881794,0.71338606911949],"aabb_xy":[[-0.6712584582458707,0.5850346486193253],[-0.5432584596575343,0.7130069293570337]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[-0.6540204428354284,0.8440027165285535,0.71338606911949],"aabb_xy":[[-0.671030540125479,0.8278682280302796],[-0.6370103455453777,0.8601372050268274]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[-0.27684296115779256,-1.1165974331151498,0.71338606911949],"aabb_xy":[[-0.2914863667118255,-1.1312561527719338],[-0.2621995556037595,-1.1019387134583654]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_26","position":[0.5870988047674657,1.6336438560717084,0.71338606911949],"aabb_xy":[[0.5536196375064247,1.6001647427006014],[0.6205779720285066,1.6671229694428154]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[-0.36738539937159687,-2.4745736528700464,0.71338606911949],"aabb_xy":[[-0.41519156698536547,-2.539573655577105],[-0.3195792317578282,-2.409573650162987]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_28","position":[0.16054719277583818,-0.9562117972915323,0.71338606911949],"aabb_xy":[[0.12554719279934234,-0.9656764133391489],[0.195547192752334,-0.9467471812439157]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_29","position":[-0.5225881231578435,-1.3941110227612634,0.71338606911949],"aabb_xy":[[-0.5414725069263538,-1.412996947541616],[-0.5037037393893334,-1.3752250979809104]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_30","position":[0.670926984100614,-1.8530903338020184,0.71338606911949],"aabb_xy":[[0.653426984822527,-1.8704284338683643],[0.6884269833787008,-1.8357522337356724]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_31","position":[0.5757751346051752,-0.9885156182922237,0.71338606911949],"aabb_xy":[[0.4957751372015817,-1.0685081894904063],[0.6557751320087685,-0.9085230470940407]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_32","position":[-0.5313636900407658,-2.4313412955694034,0.71338606911949],"aabb_xy":[[-0.5422152962896414,-2.442200586297054],[-0.5205120837918902,-2.4204820048417526]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_33","position":[0.4537639460879057,-2.04087166421845,0.71338606911949],"aabb_xy":[[0.43126394557586506,-2.0633635225838485],[0.47626394659994625,-2.0183798058530518]]}],"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":0.6961222388538365,"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/6519.png","name":"6519"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6519.png","name":"6519"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7959.png","name":"7959"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2855.png","name":"2855"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6000.png","name":"6000"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3687.png","name":"3687"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":676.5509107681771,"rotation_z_degrees":178.17664437783742,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00215518671964806,-0.0028176774321981256,0.016349461823131118]},{"name":"camera_2","offset_m":[-0.0015709254260233563,0.001805819387578636,0.0015779332172891278]},{"name":"camera_3","offset_m":[-0.01044165010321068,0.01395124048772325,0.011019850370309933]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007212265313817755,0.000989336477193522,-0.0018884274977763456],"end_effector_yaw_offset_degrees":-0.4327267894698441},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015287021785030494,0.00017490900619406306,0.0005079496391192147],"end_effector_yaw_offset_degrees":-0.4889988152736462},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014556362408905032,0.00022160235724889236,-0.0017421823261555144],"end_effector_yaw_offset_degrees":-0.44489712535347126}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0039355285369612894,0.0005477408575155504],"position_m":[0.2926644714630387,0.3659477408575156,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027992230803026777,-0.0030371352770429405],"position_m":[0.27349922308030267,-0.358737135277043,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004144435051341913,-0.003492811339602745],"position_m":[0.34784443505134194,0.2616071886603973,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004374054047314907,0.003023397159411109],"position_m":[0.3086259459526851,0.0663233971594111,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5a9d051bd37d035cea04bd107f37a4b803e2d1435f8ff4ebf78a95659223530f","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6519/tex_ceiling_textures_3687/tex_floor_textures_6000/tex_table_textures_7959/tex_wall_textures_2855","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4147551317412400004,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4147551317412400004,"visual_seed":4147551317412400004,"scene_id":"lab_003","finished_at":"2026-09-04T18:13:19"} +{"episode_id":"ep_000053","started_at":"2026-09-04T18:13:22","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[0.22948599581195384,1.3616161253654133,0.71338606911949],"aabb_xy":[[0.2215627155732055,1.3391161251274102],[0.23740927605070217,1.384116125603417]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.5238319882995891,0.3837191427728346,0.71338606911949],"aabb_xy":[[-0.5420378119608368,0.37269374219084295],[-0.5056261646383414,0.3947445433548262]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.3679293169087367,-0.24934691139304865,0.71338606911949],"aabb_xy":[[-0.4319293154953092,-0.29635387479255737],[-0.3039293183221643,-0.20233994799353994]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[-0.33654679544210264,1.3597750864445985,0.71338606911949],"aabb_xy":[[-0.4015467933237505,1.3086514227380577],[-0.27154679756045486,1.4108987501511394]]},{"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_4","position":[0.29573634663914183,-1.692693254667481,0.71338606911949],"aabb_xy":[[0.25823634646726984,-1.7253939900503885],[0.3332363468110137,-1.6599925192845741]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[-0.0023746278712681868,-2.1187222717051855,0.71338606911949],"aabb_xy":[[-0.013619683441886021,-2.1299640694292807],[0.008870427699349648,-2.10748047398109]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[-0.05102899777082637,-0.7783294709687527,0.71338606911949],"aabb_xy":[[-0.09233354083456236,-0.8423294705368698],[-0.00972445470709038,-0.7143294714006356]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[0.5436685540212285,-1.9329913139276818,0.71338606911949],"aabb_xy":[[0.4796685569091228,-1.9820236837220926],[0.6076685511333342,-1.8839589441332714]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.2147567568347858,-1.6146260708556788,0.71338606911949],"aabb_xy":[[-0.24934783968883098,-1.6796260711407096],[-0.18016567398074054,-1.5496260705706475]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[0.38930987927318617,-1.0278969846927146,0.71338606911949],"aabb_xy":[[0.32430988071611333,-1.0576495181065972],[0.454309877830259,-0.998144451278832]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.5496223173137644,0.7355516944003702,0.71338606911949],"aabb_xy":[[-0.6146223154696835,0.709255449850458],[-0.48462231915784537,0.7618479389502824]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.5084977485193594,-0.5259346505091314,0.71338606911949],"aabb_xy":[[-0.517299803828332,-0.5337459766640603],[-0.4996956932103866,-0.5181233243542022]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[-0.245332136150065,1.1902520673385646,0.71338606911949],"aabb_xy":[[-0.325332133164313,1.1701175156651533],[-0.16533213913581699,1.2103866190119759]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.5596227795138682,0.6450668464755811,0.71338606911949],"aabb_xy":[[0.5351091554168622,0.6208022531735446],[0.5841364036108739,0.6693314397776176]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.5420393425478687,1.1033948323540375,0.71338606911949],"aabb_xy":[[-0.622039339951462,1.0234022611558544],[-0.4620393451442752,1.18338740355222]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.4187914198017828,1.3995481081039256,0.71338606911949],"aabb_xy":[[0.3909463830211757,1.368763609365614],[0.44663645658238993,1.4303326068422373]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[0.041843036157124036,1.4123693808456714,0.71338606911949],"aabb_xy":[[0.015554211836683372,1.3860979471910198],[0.06813186047756468,1.4386408145003222]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[-0.6079614888013481,-0.3771234513331705,0.71338606911949],"aabb_xy":[[-0.6204288469110839,-0.38958877596649405],[-0.5954941306916126,-0.36465812669984704]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.0020145125134518604,-1.5348200714113145,0.71338606911949],"aabb_xy":[[-0.03228239850428876,-1.5691169576212554],[0.03631142353119248,-1.5005231852013727]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[0.6645607018122501,0.43233286032716123,0.71338606911949],"aabb_xy":[[0.604560701216234,0.37752038778193775],[0.7245607024082663,0.4871453328723847]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[-0.4488530129650229,0.19373573135685707,0.71338606911949],"aabb_xy":[[-0.5128530148773653,0.13782458209884663],[-0.3848530110526806,0.2496468806148675]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[-0.16667610430462676,-2.007905516767128,0.71338606911949],"aabb_xy":[[-0.18917610454814215,-2.0201101514268998],[-0.14417610406111137,-1.9957008821073559]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[0.6861167085777187,-2.288642062151585,0.71338606911949],"aabb_xy":[[0.6660582969644784,-2.3087071490607425],[0.706175120190959,-2.2685769752424276]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[-0.5728888121916185,-0.8490396532182658,0.71338606911949],"aabb_xy":[[-0.5809321721175736,-0.9340396543136322],[-0.5648454522656633,-0.7640396521228994]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[0.47569606391763797,-2.470910585853143,0.71338606911949],"aabb_xy":[[0.45319964248377387,-2.49341058565989],[0.49819248535150207,-2.448410586046395]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[0.6226798119566508,-0.8977448519269076,0.71338606911949],"aabb_xy":[[0.5426798086988077,-0.9777413597188915],[0.7026798152144936,-0.8177483441349236]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.5081026881311015,-1.3547747295176518,0.71338606911949],"aabb_xy":[[0.4581026877705355,-1.4047547167272543],[0.5581026884916676,-1.3047947423080484]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[-0.4029661564422422,-0.6321503639927719,0.71338606911949],"aabb_xy":[[-0.425138683418893,-0.654326031148895],[-0.3807936294655913,-0.6099746968366486]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[0.25830062160100375,-2.5675939042884792,0.71338606911949],"aabb_xy":[[0.2391883142430249,-2.5867286831657212],[0.2774129289589826,-2.548459125411237]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[-0.6422618169087201,-1.912033806564732,0.71338606911949],"aabb_xy":[[-0.6655436591068513,-1.99703380786196],[-0.6189799747105886,-1.827033805267504]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_30","position":[0.35926198492464456,-2.1273202554053356,0.71338606911949],"aabb_xy":[[0.2692619812477263,-2.1887526619824396],[0.44926198860156263,-2.065887848828231]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_31","position":[-0.4392267610155165,-0.8433668342425988,0.71338606911949],"aabb_xy":[[-0.4892267620346519,-0.879833049980427],[-0.38922675999638134,-0.8069006185047711]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_32","position":[-0.04153573515482434,0.8527598368445002,0.71338606911949],"aabb_xy":[[-0.09153573380074553,0.8028402931850376],[0.008464263491096857,0.9026793805039623]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_33","position":[0.6008279350155743,-2.389912808200656,0.71338606911949],"aabb_xy":[[0.5658279350390785,-2.3993774242482724],[0.6358279349920701,-2.3804481921530396]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_34","position":[0.009650963999143225,-1.194729972217575,0.71338606911949],"aabb_xy":[[-0.008142542935773212,-1.2125297178133727],[0.02744447093405966,-1.1769302266217774]]}],"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":0.6943091140574688,"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/6702.png","name":"6702"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6702.png","name":"6702"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/221.png","name":"221"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9686.png","name":"9686"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2237.png","name":"2237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6109.png","name":"6109"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":651.837534999182,"rotation_z_degrees":179.10631065239218,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026403972670038522,-0.0006423579156323196,-0.003631332182108739]},{"name":"camera_2","offset_m":[-0.0003530514313665814,0.01572890622023958,-0.010151262030046721]},{"name":"camera_3","offset_m":[-0.004172226635742109,-0.007359334714106729,-0.017448342469580252]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019239497674907596,0.00019406504135591413,-0.0017592572012232023],"end_effector_yaw_offset_degrees":-0.3973989087181202},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001249140097625554,0.00013458961472972552,-0.001909562354065644],"end_effector_yaw_offset_degrees":0.5346850153325651},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017651746990218885,-0.0011899243233292696,0.0011727935987958012],"end_effector_yaw_offset_degrees":0.7076994229482458}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022534304759108735,-0.004957449532928978],"position_m":[0.2943465695240891,0.360442550467071,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003696924740853564,0.00200591298966223],"position_m":[0.2743969247408536,-0.3536940870103378,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004438883815851099,0.0005996958057820044],"position_m":[0.3481388838158511,0.265699695805782,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00369293811445765,-0.0028955366924276527],"position_m":[0.30930706188554236,0.06040446330757234,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"30b8827e43bee70cb16d4c332a88941af6c8f6f1479202fd0ba405275a38b971","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6702/tex_ceiling_textures_6109/tex_floor_textures_2237/tex_table_textures_221/tex_wall_textures_9686","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":7018963451315270802,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":7018963451315270802,"visual_seed":7018963451315270802,"scene_id":"lab_003","finished_at":"2026-09-04T18:16:26"} +{"episode_id":"ep_000054","started_at":"2026-09-04T18:16:29","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.49488383474629205,-2.45230985996237,0.71338606911949],"aabb_xy":[[-0.5123838338806592,-2.462189486999957],[-0.4773838356119249,-2.4424302329247816]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.6475131486601459,-0.2477898697546892,0.71338606911949],"aabb_xy":[[-0.6812887078508388,-0.2618283649678542],[-0.6137375894694529,-0.23375137454152414]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[0.42828452355885505,0.9436525376752583,0.71338606911949],"aabb_xy":[[0.39328452220737325,0.9232928017184374],[0.4632845249103367,0.9640122736320791]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.51616013314211,-1.6675927881030062,0.71338606911949],"aabb_xy":[[0.4818632221243692,-1.7018896743129472],[0.5504570441598504,-1.6332959018930646]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[0.02806550157940091,1.4223455003590533,0.71338606911949],"aabb_xy":[[0.021651687936215965,1.4159356801113847],[0.03447931522258584,1.4287553206067214]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.43715359672832704,-1.129766247054359,0.71338606911949],"aabb_xy":[[-0.45179700228236,-1.144424966711143],[-0.42251019117429406,-1.1151075273975746]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.6319601582603388,-1.2446745892446618,0.71338606911949],"aabb_xy":[[-0.681944393968516,-1.2946745880581574],[-0.5819759225521616,-1.1946745904311662]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.5635548175448739,1.229322881741207,0.71338606911949],"aabb_xy":[[-0.6435548180150898,1.2210121741268587],[-0.48355481707465797,1.2376335893555552]]},{"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_8","position":[-0.1085714245067606,-2.344835485822483,0.71338606911949],"aabb_xy":[[-0.16620189339403146,-2.4048354847491926],[-0.05094095561948975,-2.2848354868957714]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[-0.4459021113512346,0.08803401319353599,0.71338606911949],"aabb_xy":[[-0.46340211159628397,0.07053422535396914],[-0.4284021111061852,0.10553380103310284]]},{"name":"lh_cell_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_10","position":[-0.6213850844252011,1.5555993340105014,0.71338606911949],"aabb_xy":[[-0.6853850851286706,1.5095809515375809],[-0.5573850837217319,1.6016177164834229]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.37464194793928995,0.19033881114359819,0.71338606911949],"aabb_xy":[[-0.3947003595525303,0.17027372423444068],[-0.3545835363260497,0.21040389805275575]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[0.6979448303055535,0.5294843132326754,0.71338606911949],"aabb_xy":[[0.688784951361677,0.5229530951891382],[0.7071047092494301,0.5360155312762124]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[0.32322620334061347,-2.030833775321897,0.71338606911949],"aabb_xy":[[0.24322620306700646,-2.1037833231476135],[0.4032262036142204,-1.9578842274961803]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[0.322717935315584,-2.357709341591689,0.71338606911949],"aabb_xy":[[0.3185820789828838,-2.395209341036046],[0.3268537916482842,-2.320209342147332]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.49792440091680246,0.37059526453964287,0.71338606911949],"aabb_xy":[[-0.5224706165395532,0.3403463679906058],[-0.47337818529405173,0.40084416108867993]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[0.346840806133073,1.1431074310407334,0.71338606911949],"aabb_xy":[[0.30950952960783046,1.1084543762458812],[0.38417208265831565,1.1777604858355857]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.6523040658964647,1.1965577770679166,0.71338606911949],"aabb_xy":[[0.6348040656371282,1.182466234879144],[0.6698040661558015,1.2106493192566892]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.21282851866657976,-2.1178830037026652,0.71338606911949],"aabb_xy":[[-0.23040682085552663,-2.13545749327677],[-0.19525021647763294,-2.10030851412856]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.44079884267632674,0.5236897492509249,0.71338606911949],"aabb_xy":[[0.40329884149153394,0.5192715265548643],[0.47829884386111954,0.5281079719469853]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.23108667258790566,-2.214893421299816,0.71338606911949],"aabb_xy":[[-0.2393012177035896,-2.2235700115974564],[-0.22287212747222165,-2.2062168310021737]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[-0.4601316396143459,1.6952325719321224,0.71338606911949],"aabb_xy":[[-0.5251316405714731,1.6432843599984168],[-0.39513163865721873,1.747180783865828]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.5639735747203172,-0.47166134824991257,0.71338606911949],"aabb_xy":[[-0.5733205823026124,-0.4859649704675566],[-0.5546265671380219,-0.45735772603226854]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[0.30178339965063383,0.7995179182874246,0.71338606911949],"aabb_xy":[[0.29770524174358404,0.7954369380391613],[0.3058615575576835,0.8035988985356879]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[0.7076480691057312,-1.2775175186780037,0.71338606911949],"aabb_xy":[[0.7003657527290673,-1.3675175222875122],[0.7149303854823946,-1.1875175150684942]]}],"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":0.6899463822772048,"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/572.png","name":"572"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/572.png","name":"572"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7823.png","name":"7823"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3456.png","name":"3456"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3039.png","name":"3039"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1845.png","name":"1845"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":504.67864719250053,"rotation_z_degrees":351.81120303892266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01633587217045819,-0.0017002538489258381,0.01846125287627184]},{"name":"camera_2","offset_m":[-0.01252887695676145,0.012277324580965126,-0.01865306069788498]},{"name":"camera_3","offset_m":[-0.018779703524748895,0.011082462297344019,-0.019078881930219935]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019731637036145963,-0.0017878757265645247,0.0019240648859291318],"end_effector_yaw_offset_degrees":-0.592779589417662},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001453130244941656,-0.0003762856213696533,0.0015411138296379662],"end_effector_yaw_offset_degrees":0.10511011741653054},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009937752734731444,-0.0007149743271648683,0.0006308037361181652],"end_effector_yaw_offset_degrees":-0.37748989255801035}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003366181547362959,0.004576073002867252],"position_m":[0.29996618154736293,0.3699760730028673,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00011477033861188694,0.004519167556899735],"position_m":[0.2708147703386119,-0.3511808324431003,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008836678933721188,0.004407563769881002],"position_m":[0.34458366789337214,0.269507563769881,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00030659539369291746,-0.003464009241014593],"position_m":[0.31330659539369293,0.0598359907589854,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6ca3d9a9345ef98e186b31c05f2fb3c0284df526cd28fb55962eb5cc2abc7e8c","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0054.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_572/tex_ceiling_textures_1845/tex_floor_textures_3039/tex_table_textures_7823/tex_wall_textures_3456","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":7066990668714644212,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":7066990668714644212,"visual_seed":7066990668714644212,"scene_id":"lab_003","finished_at":"2026-09-04T18:19:43"} +{"episode_id":"ep_000055","started_at":"2026-09-04T18:19:47","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[-0.5330067992532781,-2.548513882343681,0.71338606911949],"aabb_xy":[[-0.5705067995454529,-2.5525553577442848],[-0.4955067989611033,-2.5444724069430773]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[0.47728054144166676,1.3631287161607029,0.71338606911949],"aabb_xy":[[0.3972805409714509,1.3548180085463546],[0.5572805419118827,1.3714394237750511]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.5238752712870386,-0.7443364977262683,0.71338606911949],"aabb_xy":[[-0.533956978365612,-0.8243364956183828],[-0.513793564208465,-0.6643364998341535]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[-0.6224336427638616,0.8170539475023832,0.71338606911949],"aabb_xy":[[-0.6343663771256898,0.8046717946945239],[-0.6105009084020336,0.8294361003102426]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.6244248609727454,1.1907477613555186,0.71338606911949],"aabb_xy":[[-0.6469212824066095,1.1682477615487712],[-0.6019284395388813,1.213247761162266]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.5499865262759633,-2.0300283133109716,0.71338606911949],"aabb_xy":[[-0.5724865267880038,-2.05252017167637],[-0.5274865257639226,-2.007536454945573]]},{"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_6","position":[0.3718168470984409,-2.2359757525569854,0.71338606911949],"aabb_xy":[[0.34182518436457054,-2.265975751893786],[0.4018085098323112,-2.205975753220185]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.6112002258959863,0.6194143917389283,0.71338606911949],"aabb_xy":[[0.603956459849741,0.5394143935353258],[0.6184439919422317,0.6994143899425306]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.24380496958114006,1.6405475586460994,0.71338606911949],"aabb_xy":[[0.20103826270171987,1.5765475552242967],[0.28657167646056025,1.7045475620679016]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.5727023426598778,-0.338368062056686,0.71338606911949],"aabb_xy":[[-0.6427023460514397,-0.3736838357601169],[-0.5027023392683158,-0.30305228835325515]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.6834552833098315,0.5123246086299691,0.71338606911949],"aabb_xy":[[0.6589090676870808,0.482075712080932],[0.7080014989325822,0.542573505179006]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.5389850476590321,1.6097838020803183,0.71338606911949],"aabb_xy":[[0.47498504531623037,1.5648429508361859],[0.6029850500018334,1.6547246533244508]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[0.6480492351845104,-0.30527093133184247,0.71338606911949],"aabb_xy":[[0.5880492353379435,-0.3620895535248811],[0.7080492350310771,-0.24845230913880373]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.3686207515967998,1.0994345127002871,0.71338606911949],"aabb_xy":[[-0.448620754860813,1.0858744803913738],[-0.2886207483327867,1.1129945450092005]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[-0.012564526303677215,0.7776895676111351,0.71338606911949],"aabb_xy":[[-0.0765602236987738,0.7136895693104263],[0.05143117109141937,0.8416895659118436]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.6958463819846339,1.5545413737152347,0.71338606911949],"aabb_xy":[[0.6799618887193087,1.5401884334164107],[0.711730875249959,1.5688943140140588]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[0.39697091541058405,0.5248004995706208,0.71338606911949],"aabb_xy":[[0.37405520252553415,0.5018962024341973],[0.419886628295634,0.5477047967070443]]},{"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_17","position":[-0.17095196214387076,-1.943121999945279,0.71338606911949],"aabb_xy":[[-0.255951960561294,-2.027996295407564],[-0.0859519637264475,-1.858247704482994]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[0.4535283258993956,0.630530037496615,0.71338606911949],"aabb_xy":[[0.44982506457025667,0.626828019187897],[0.45723158722853446,0.6342320558053327]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.6334638553119958,1.177728203049143,0.71338606911949],"aabb_xy":[[0.60895023121499,1.1534636097471067],[0.6579774794090018,1.2019927963511796]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.21583956477489907,-1.1915780609544215,0.71338606911949],"aabb_xy":[[0.17833956325926736,-1.2028048339705664],[0.2533395662905308,-1.1803512879382763]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.5092497981531798,1.70266259133211,0.71338606911949],"aabb_xy":[[-0.5206115328064659,1.691294124925822],[-0.49788806349989356,1.7140310577383981]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[-0.3177866793789411,-0.8762263713715388,0.71338606911949],"aabb_xy":[[-0.3677599733822015,-0.926226371926086],[-0.2678133853756806,-0.8262263708169914]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.09763787432353055,1.4212661214850528,0.71338606911949],"aabb_xy":[[-0.18763787105914076,1.368082658167758],[-0.007637877587920339,1.4744495848023471]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[0.11921781801804465,1.4551310100299877,0.71338606911949],"aabb_xy":[[0.1001055106600658,1.4359962311527457],[0.13833012537602352,1.4742657889072297]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_25","position":[0.5026658716825481,-1.5797989455476653,0.71338606911949],"aabb_xy":[[0.44107511245855524,-1.6437989436567122],[0.5642566309065409,-1.5157989474386184]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.30558840879337057,0.32881333893149733,0.71338606911949],"aabb_xy":[[-0.38558841095613305,0.2488581553053537],[-0.22558840663060808,0.40876852255764096]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_27","position":[0.40530551309479446,-1.7985534175268185,0.71338606911949],"aabb_xy":[[0.32531168951623624,-1.8785534201196603],[0.4852993366733527,-1.7185534149339772]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[0.6638997787539618,-2.45757576071423,0.71338606911949],"aabb_xy":[[0.6530481725050863,-2.468435051441882],[0.6747513850028375,-2.4467164699865793]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_29","position":[0.5813804884968203,0.22477610534937265,0.71338606911949],"aabb_xy":[[0.5717488522763907,0.21513879256966367],[0.59101212471725,0.2344134181290815]]}],"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":0.6903867774807417,"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/2215.png","name":"2215"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2215.png","name":"2215"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/433.png","name":"433"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5816.png","name":"5816"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5976.png","name":"5976"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4632.png","name":"4632"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":691.9418498326734,"rotation_z_degrees":291.62385262232584,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016321126191615038,-0.016897413007794695,0.003526553805297445]},{"name":"camera_2","offset_m":[-0.013161042515132877,-0.01889199570137996,-0.016756743812389483]},{"name":"camera_3","offset_m":[0.008770337123986116,-0.009734058533784791,-0.005994571626176838]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006465076556994792,0.0015965219632694421,0.00043759294326776],"end_effector_yaw_offset_degrees":0.5793574262684387},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012361739978979211,-0.0012300497164954337,0.0003314128455470266],"end_effector_yaw_offset_degrees":0.26982023211350503},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010660965282498235,-0.0009887628976450924,3.2826562608629945e-05],"end_effector_yaw_offset_degrees":0.7075198229317543}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017623938964747852,-0.003945927593163074],"position_m":[0.2983623938964748,0.3614540724068369,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009223325404961987,0.0019111073497095343],"position_m":[0.2697776674595038,-0.35378889265029045,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004376204676047963,0.0014550498668409505],"position_m":[0.339323795323952,0.266555049866841,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004948227360051905,-0.004413130873006531],"position_m":[0.3080517726399481,0.058886869126993466,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba0453369540fe26be6190682f3f939ee466023a48812c31ca96a5e42d7f6e64","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2215/tex_ceiling_textures_4632/tex_floor_textures_5976/tex_table_textures_433/tex_wall_textures_5816","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8200883585107387588,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8200883585107387588,"visual_seed":8200883585107387588,"scene_id":"lab_003","finished_at":"2026-09-04T18:22:58"} +{"episode_id":"ep_000056","started_at":"2026-09-04T18:23:01","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.10353938371218008,-1.0424597960607902,0.71338606911949],"aabb_xy":[[0.09378339420300617,-1.0522223301200244],[0.11329537322135395,-1.0326972620015555]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.13296806279835682,-1.330965334085208,0.71338606911949],"aabb_xy":[[0.12380818385448022,-1.3374965521287452],[0.14212794174223342,-1.324434116041671]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[0.3086368789982066,-1.9675300776646898,0.71338606911949],"aabb_xy":[[0.2912061639192,-1.9848021923285406],[0.32606759407721303,-1.950257963000839]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[0.581796240638198,0.686031398837597,0.71338606911949],"aabb_xy":[[0.5442962399736192,0.6703443408373747],[0.6192962413027766,0.7017184568378191]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.5555621991385071,-2.2357743763427034,0.71338606911949],"aabb_xy":[[-0.6355621961527551,-2.2559089280161144],[-0.47556220212425915,-2.2156398246692923]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.4587459918187001,-0.7916510899057236,0.71338606911949],"aabb_xy":[[-0.4812459918288485,-0.805747309545327],[-0.4362459918085519,-0.7775548702661205]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.08755560937195639,-1.2131987640676263,0.71338606911949],"aabb_xy":[[-0.13364070062668787,-1.2771987613201816],[-0.041470518117224915,-1.1491987668150714]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.6294834628863074,-0.4150446059569015,0.71338606911949],"aabb_xy":[[-0.6722501697657276,-0.479044609378704],[-0.5867167560068872,-0.3510446025350991]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.16272008397058446,1.014079581583473,0.71338606911949],"aabb_xy":[[-0.2427200809336236,0.9370039399396997],[-0.08272008700754527,1.0911552232272466]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[-0.3296253849953467,0.7797242511153661,0.71338606911949],"aabb_xy":[[-0.33426050014758,0.7758569160382174],[-0.3249902698431132,0.7835915861925147]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[-0.15195896916818286,-0.321227133431667,0.71338606911949],"aabb_xy":[[-0.20195824433661902,-0.37122713470761415],[-0.10195969399974669,-0.2712271321557198]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[-0.5464162330986018,0.052328881914837755,0.71338606911949],"aabb_xy":[[-0.574745943047142,0.047868139721120695],[-0.5180865231500615,0.056789624108554815]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.16718028552618414,-0.9479417233390928,0.71338606911949],"aabb_xy":[[0.1480679781682053,-0.9670765022163348],[0.18629259288416303,-0.9288069444618507]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[-0.11095882387930811,-0.1254050799447528,0.71338606911949],"aabb_xy":[[-0.13345795960553508,-0.14790508072301578],[-0.08845968815308114,-0.10290507916648983]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.5567051122312715,0.48714068645211306,0.71338606911949],"aabb_xy":[[-0.5819259490911111,0.46191693559922625],[-0.5314842753714317,0.5123644373049997]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[-0.4828083250307169,1.1718496936734768,0.71338606911949],"aabb_xy":[[-0.5378005756662279,1.1168496919301643],[-0.427816074395206,1.2268496954167898]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[-0.41247000644365434,-1.5719666655745599,0.71338606911949],"aabb_xy":[[-0.4924700044244394,-1.5795682065364118],[-0.3324700084628693,-1.564365124612708]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[-0.3604887482026362,0.9557508739408211,0.71338606911949],"aabb_xy":[[-0.42448875011497855,0.8998397246828107],[-0.29648874629029387,1.0116620231988316]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.18479374530059656,-1.226706962375871,0.71338606911949],"aabb_xy":[[0.17882720635986077,-1.2326681070352352],[0.19076028424133235,-1.220745817716507]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[0.4305135930703572,-1.7634379860312372,0.71338606911949],"aabb_xy":[[0.36551359211323,-1.8153861979649426],[0.4955135940274844,-1.7114897740975314]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.10738463634842288,-1.763973819024845,0.71338606911949],"aabb_xy":[[0.0574113423451624,-1.8139738195793922],[0.1573579303516833,-1.7139738184702975]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[0.26938893341869663,-0.7834132428681595,0.71338606911949],"aabb_xy":[[0.23188893190306492,-0.7946400158843046],[0.30688893493432834,-0.7721864698520144]]},{"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_22","position":[0.577054767882198,-0.7707741687593535,0.71338606911949],"aabb_xy":[[0.5395547677103261,-0.8034749041422605],[0.6145547680540699,-0.7380734333764462]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[0.3299707022520646,-0.5372374236026074,0.71338606911949],"aabb_xy":[[0.30779817527541375,-0.5594130907587306],[0.35214322922871544,-0.5150617564464842]]}],"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":0.6914550125029942,"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/1769.png","name":"1769"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1769.png","name":"1769"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8706.png","name":"8706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3692.png","name":"3692"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8479.png","name":"8479"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8918.png","name":"8918"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":823.2406410851808,"rotation_z_degrees":30.363726912550465,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007690332140708281,0.013225199189081178,0.0018492124598428715]},{"name":"camera_2","offset_m":[0.012839487209053636,0.01467569547113379,0.013637697984619512]},{"name":"camera_3","offset_m":[0.0018468595151113973,0.015145714227219834,0.011136134160163555]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010509720657355187,0.001153333173320439,0.0005272929425725634],"end_effector_yaw_offset_degrees":0.2589700880340202},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006295692948562145,0.0006820321827488303,-0.00010082054616949413],"end_effector_yaw_offset_degrees":-0.7759726253228838},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000844218549064352,0.00023394132165174874,-0.0012820775075531076],"end_effector_yaw_offset_degrees":0.05727448517767186}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006937156387531659,-0.001678204771142039],"position_m":[0.29590628436124683,0.36372179522885795,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001819339348850426,-0.0016589495140765156],"position_m":[0.2688806606511496,-0.35735894951407654,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003977389760091343,-0.0023702408826812905],"position_m":[0.3476773897600913,0.2627297591173187,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028174520224067716,-0.00048208588846853934],"position_m":[0.3158174520224068,0.06281791411153145,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3af664408d5fc7ec1f979d73855dcd55b231e4a64dca459023eecdb681734c1b","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0056.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1769/tex_ceiling_textures_8918/tex_floor_textures_8479/tex_table_textures_8706/tex_wall_textures_3692","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":7717219463209664560,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":7717219463209664560,"visual_seed":7717219463209664560,"scene_id":"lab_003","finished_at":"2026-09-04T18:25:55"} +{"episode_id":"ep_000057","started_at":"2026-09-04T18:25:58","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.2494656584788918,-0.5559190747841987,0.71338606911949],"aabb_xy":[[-0.26103463922582837,-0.5809190749011304],[-0.23789667773195522,-0.530919074667267]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.48896994595767307,0.7467558737408306,0.71338606911949],"aabb_xy":[[0.4249699495621,0.6827925853220972],[0.5529699423532461,0.8107191621595643]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.5520302796130586,1.5318050589247911,0.71338606911949],"aabb_xy":[[-0.6320302766273066,1.5116705072513799],[-0.47203028259881064,1.5519396105982024]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.012071281282395652,0.9638481630191267,0.71338606911949],"aabb_xy":[[-0.04707128117841452,0.9554739275071867],[0.022928718613623215,0.9722223985310666]]},{"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_4","position":[0.568180419860097,1.351505110631598,0.71338606911949],"aabb_xy":[[0.5594824575693818,1.3393801363241233],[0.5768783821508123,1.3636300849390728]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[0.3972192886084609,-0.6692280679284626,0.71338606911949],"aabb_xy":[[0.33721928696553904,-0.7212282172204068],[0.45721929025138275,-0.6172279186365184]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.2713869728660881,-0.9378825451886901,0.71338606911949],"aabb_xy":[[-0.31637955958453845,-0.9828825444631388],[-0.22639438614763763,-0.8928825459142413]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.48127789854320624,-0.28857971334862365,0.71338606911949],"aabb_xy":[[-0.518777900058838,-0.29980648636476864],[-0.4437778970275745,-0.27735294033247854]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.38402426847368387,1.3128851896820604,0.71338606911949],"aabb_xy":[[-0.4737113447817993,1.2228851894276098],[-0.2943371921655684,1.402885189936511]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[-0.06799478150622407,-0.33923860894954627,0.71338606911949],"aabb_xy":[[-0.13199478176669485,-0.3842474083024743],[-0.003994781245753253,-0.29422980959661826]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.30176746664495835,1.6126530113411444,0.71338606911949],"aabb_xy":[[0.21176747014408656,1.566741368922686],[0.39176746314583005,1.6585646537596024]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[0.13726430850411164,1.2072512311887,0.71338606911949],"aabb_xy":[[0.08226431030236682,1.1667292645622622],[0.19226430670585648,1.2477731978151374]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.04813713484368398,-1.5697179830771328,0.71338606911949],"aabb_xy":[[0.019487802483267758,-1.5983635423542084],[0.0767864672041002,-1.5410724238000568]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.6950210428384429,1.386040222276522,0.71338606911949],"aabb_xy":[[0.6895630972014227,1.306040218968863],[0.7004789884754629,1.4660402255841811]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[0.07463062305266766,-1.1760809940649763,0.71338606911949],"aabb_xy":[[0.04678558627206053,-1.206865492803288],[0.10247565983327478,-1.1452964953266647]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.261103224857563,1.205389524807377,0.71338606911949],"aabb_xy":[[0.25175621727526776,1.191085902589733],[0.2704502324398582,1.219693147025021]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[-0.17823189854174926,0.7486060287890735,0.71338606911949],"aabb_xy":[[-0.22823189718767045,0.6986864851296112],[-0.12823189989582806,0.798525572448536]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[0.512805810055698,0.010988305053616365,0.71338606911949],"aabb_xy":[[0.47530580939111927,-0.004698752946605821],[0.5503058107202766,0.02667536305383855]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.3931815727982843,1.0519417817331895,0.71338606911949],"aabb_xy":[[-0.4431746849074763,1.001941781058994],[-0.3431884606890925,1.1019417824073852]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.5125034909231123,-0.3286605212196365,0.71338606911949],"aabb_xy":[[0.43250349376353703,-0.3402081221774535],[0.5925034880826876,-0.3171129202618194]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.4539728340385249,-1.8676792997321487,0.71338606911949],"aabb_xy":[[-0.5179685314336215,-1.931679298032857],[-0.38997713664342826,-1.8036793014314396]]}],"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":0.6953216531034199,"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/5621.png","name":"5621"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5621.png","name":"5621"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3065.png","name":"3065"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/482.png","name":"482"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8526.png","name":"8526"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3827.png","name":"3827"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":832.1679674003889,"rotation_z_degrees":291.9140163910411,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01766495491598671,0.001829796645983671,0.00391837224574685]},{"name":"camera_2","offset_m":[-0.006149313796581511,-0.014740400682245022,-0.00287414791612077]},{"name":"camera_3","offset_m":[-0.005389636427500939,-0.011600758756543029,-0.010599203577997152]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006708186624299608,0.0004145556280793282,-0.0017551231977112436],"end_effector_yaw_offset_degrees":-0.6669311660132864},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00016085989988324904,-0.0005377092515240843,-0.0017079885271916138],"end_effector_yaw_offset_degrees":0.21138398056670615},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005221650031552857,-0.000308793294942085,-0.0017880668197666908],"end_effector_yaw_offset_degrees":-0.0046526848468873006}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008021265734557918,-0.004544808894177306],"position_m":[0.2957978734265442,0.3608551911058227,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033407626655722602,-0.0005751487032423681],"position_m":[0.27404076266557226,-0.3562751487032424,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002831347690582387,0.0011082584336887021],"position_m":[0.3465313476905824,0.2662082584336887,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004801802558142545,-0.0019040966150149319],"position_m":[0.31251981974418575,0.061395903384985066,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6b0f66d2a33dc0658f4b5203910fc34dd7e0e05262e84b8503974d75832d0c3b","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5621/tex_ceiling_textures_3827/tex_floor_textures_8526/tex_table_textures_3065/tex_wall_textures_482","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4089483907919260325,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4089483907919260325,"visual_seed":4089483907919260325,"scene_id":"lab_003","finished_at":"2026-09-04T18:29:07"} +{"episode_id":"ep_000058","started_at":"2026-09-04T18:29:11","dimensions":{"distractor":{"count":23,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.04103828554191158,-1.308916710126275,0.71338606911949],"aabb_xy":[[-0.07807239496997129,-1.3432939174599843],[-0.004004176113851857,-1.2745395027925654]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.4347996837377175,0.7189324826025847,0.71338606911949],"aabb_xy":[[0.3974684072124749,0.6842794278077324],[0.4721309602629601,0.7535855373974369]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[-0.42470334970082096,1.5110190011959577,0.71338606911949],"aabb_xy":[[-0.4492495653235717,1.4807701046469204],[-0.40015713407807024,1.5412678977449945]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[0.4999953850716743,0.44402234785885586,0.71338606911949],"aabb_xy":[[0.439995384475658,0.3892098753136324],[0.5599953856676904,0.49883482040407934]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[0.19191415963029657,-1.7977059328023144,0.71338606911949],"aabb_xy":[[0.18795367586056222,-1.805373797387835],[0.19587464340003097,-1.7900380682167938]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.33138845973287184,-2.0818805733701033,0.71338606911949],"aabb_xy":[[-0.37666707461402105,-2.145880572718287],[-0.28610984485172253,-2.0178805740219197]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.19791281787648585,0.5072309634216605,0.71338606911949],"aabb_xy":[[-0.2875998941846013,0.41723096316721],[-0.10822574156837036,0.5972309636761111]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[0.019414039499799363,-1.9894013399939,0.71338606911949],"aabb_xy":[[0.008573561273284454,-2.006587621284549],[0.030254517726314264,-1.9722150587032508]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[-0.5297770950663502,-0.12626954691482162,0.71338606911949],"aabb_xy":[[-0.5416491780778513,-0.21126954660847197],[-0.5179050120548491,-0.041269547221171266]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.09213682104309295,-0.8158022442302351,0.71338606911949],"aabb_xy":[[0.08409346111713778,-0.9008022453256014],[0.10018018096904813,-0.7308022431348685]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.20370100943011937,1.490992164354474,0.71338606911949],"aabb_xy":[[0.17537129948157915,1.486531422160757],[0.2320307193786596,1.4954529065481912]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[-0.05841125060967056,-0.04763408999498653,0.71338606911949],"aabb_xy":[[-0.08132696349472046,-0.07053838713141003],[-0.03549553772462066,-0.024729792858563027]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.653462374340003,-2.247170726025608,0.71338606911949],"aabb_xy":[[0.6309623738279623,-2.2696625843910065],[0.6759623748520435,-2.22467886766021]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.45915058385903945,1.0303428031287019,0.71338606911949],"aabb_xy":[[-0.5231505842365731,0.9805975362778896],[-0.39515058348150583,1.0800880699795141]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[0.3874881074328995,-1.591059058594757,0.71338606911949],"aabb_xy":[[0.3274881071814983,-1.6453403836312217],[0.44748810768430064,-1.5367777335582924]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[0.21924713697966303,1.376676272987119,0.71338606911949],"aabb_xy":[[0.1552471398675573,1.3276439031927083],[0.2832471340917687,1.4257086427815295]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.04333153012369839,-1.4651782499689885,0.71338606911949],"aabb_xy":[[-0.09333153048426446,-1.5151582371785912],[0.006668470236867666,-1.4151982627593853]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.14297142640824045,0.0498808436916387,0.71338606911949],"aabb_xy":[[-0.16547142622214284,0.04540622732115802],[-0.12047142659433807,0.054355460062119394]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.5728842623971642,1.7870832016059421,0.71338606911949],"aabb_xy":[[0.5343385695719632,1.7485374305497534],[0.6114299552223653,1.8256289726621309]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[-0.6848124620881382,-2.4883960786965065,0.71338606911949],"aabb_xy":[[-0.6925156527622152,-2.496105449395244],[-0.6771092714140612,-2.480686707997768]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.2834277756473121,-0.24676724159266872,0.71338606911949],"aabb_xy":[[-0.3059241970811762,-0.26926724139941616],[-0.260931354213448,-0.2242672417859213]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[-0.4090648439644958,-1.06136863727091,0.71338606911949],"aabb_xy":[[-0.48906484443471177,-1.0696793448852584],[-0.32906484349427984,-1.0530579296565614]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[-0.6503066911198047,-0.14422724981084034,0.71338606911949],"aabb_xy":[[-0.6567205047629895,-0.15063707005850865],[-0.6438928774766196,-0.13781742956317197]]}],"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":0.6909523199732538,"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/4213.png","name":"4213"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4213.png","name":"4213"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4975.png","name":"4975"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7593.png","name":"7593"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/679.png","name":"679"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2286.png","name":"2286"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":773.1994728610125,"rotation_z_degrees":216.82623600392273,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017514125521068496,-0.013338867107531138,0.0046520394797905686]},{"name":"camera_2","offset_m":[0.013187168814991181,0.011482184041241596,0.002241602077033965]},{"name":"camera_3","offset_m":[9.620299437551258e-05,0.008015130830904927,0.015771357844555817]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010883675977737305,0.00033705856823546074,-0.0003625482079896555],"end_effector_yaw_offset_degrees":0.0062853065230961125},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000450867132102851,-0.0010471918615400342,9.945606877482431e-05],"end_effector_yaw_offset_degrees":0.2829165648273675},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009095723710194651,-0.0006149317462714303,0.0012553500921140348],"end_effector_yaw_offset_degrees":-0.5000949170416855}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00030010723903943146,-0.0007807330315948132],"position_m":[0.2969001072390394,0.3646192669684052,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007020084744429143,0.0011770928039170816],"position_m":[0.2699979915255571,-0.3545229071960829,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00047892670792681804,0.001775499514282606],"position_m":[0.3432210732920732,0.26687549951428263,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003222638307831473,0.004342586347983099],"position_m":[0.3162226383078315,0.06764258634798309,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9ee642284163e7e97130581677fce4b1cbd47398383f28c43614dc263fe04640","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4213/tex_ceiling_textures_2286/tex_floor_textures_679/tex_table_textures_4975/tex_wall_textures_7593","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":7007543308131861357,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":7007543308131861357,"visual_seed":7007543308131861357,"scene_id":"lab_003","finished_at":"2026-09-04T18:32:42"} +{"episode_id":"ep_000059","started_at":"2026-09-04T18:32:46","dimensions":{"distractor":{"count":22,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[-0.12912739364835657,1.4174989277247305,0.71338606911949],"aabb_xy":[[-0.21912739732527467,1.3560665211476257],[-0.03912738997143835,1.4789313343018344]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.09149049807651999,0.4604050542075888,0.71338606911949],"aabb_xy":[[-0.11649049762825847,0.45026257034245404],[-0.0664904985247815,0.4705475380727235]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.5272397723326103,0.6420647393206789,0.71338606911949],"aabb_xy":[[0.43755269602449487,0.5520647390662282],[0.6169268486407258,0.7320647395751293]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.5001399615736095,-0.5491865208669666,0.71338606911949],"aabb_xy":[[0.4361399612996312,-0.5992526210642545],[0.5641399618475876,-0.49912042066967854]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[-0.16066791242208978,0.7809591737624424,0.71338606911949],"aabb_xy":[[-0.18316791293413037,0.758467315397044],[-0.13816791191004918,0.8034510321278407]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[0.5240702088852205,1.465158945267277,0.71338606911949],"aabb_xy":[[0.46007021159957184,1.4236522263144333],[0.5880702061708691,1.5066656642201213]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.07196487081744174,-1.8040961496399182,0.71338606911949],"aabb_xy":[[0.007969173422345155,-1.8680961479406264],[0.13596056821253832,-1.740096151339209]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.6658014422775255,-1.6250536491058076,0.71338606911949],"aabb_xy":[[-0.6883005780037523,-1.6475536498840708],[-0.6433023065512984,-1.6025536483275449]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[-0.625321846902707,1.680388804040509,0.71338606911949],"aabb_xy":[[-0.6752951409059673,1.6303888034859615],[-0.5753485528994464,1.7303888045950562]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[0.2581977595918479,-2.1586794074732727,0.71338606911949],"aabb_xy":[[0.17819775633400492,-2.2386759152652562],[0.33819776284969083,-2.0786828996812883]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.21985509554790417,-1.6811255237222031,0.71338606911949],"aabb_xy":[[0.21615183421876527,-1.6848275420309207],[0.223558356877043,-1.6774235054134852]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.34370205195789594,-1.8942622174410277,0.71338606911949],"aabb_xy":[[0.309385774783278,-1.9442622174142052],[0.3780183291325139,-1.8442622174678498]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.3289755057082665,-1.8070453522285872,0.71338606911949],"aabb_xy":[[-0.3514755057184148,-1.8211415718681903],[-0.3064755056981182,-1.7929491325889837]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.5829798499789709,1.2942325908899566,0.71338606911949],"aabb_xy":[[-0.6301092289808065,1.2302325898455544],[-0.5358504709771351,1.3582325919343583]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[-0.5672322613438081,-1.0729334392595269,0.71338606911949],"aabb_xy":[[-0.5790004481384657,-1.1579334391647484],[-0.5554640745491507,-0.9879334393543053]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[0.3423248309773814,-1.5251631583270577,0.71338606911949],"aabb_xy":[[0.3256476949842859,-1.5418630823009878],[0.3590019669704769,-1.5084632343531272]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[0.015267314046669589,-0.8792508357094659,0.71338606911949],"aabb_xy":[[-0.018211853214371347,-0.9127299490805729],[0.048746481307710525,-0.845771722338359]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.600652189157592,1.2274363827436283,0.71338606911949],"aabb_xy":[[0.5863177640314284,1.2153761671890893],[0.6149866142837553,1.239496598298167]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.3510260067383412,-1.2022527147446271,0.71338606911949],"aabb_xy":[[-0.36065764295877084,-1.211890027524336],[-0.3413943705179116,-1.1926154019649182]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.23486890451496167,-1.2859907120472553,0.71338606911949],"aabb_xy":[[-0.2429965927082749,-1.294904320457963],[-0.22674121632164845,-1.2770771036365476]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[0.470144408989841,-2.4668936090288254,0.71338606911949],"aabb_xy":[[0.4249730911416721,-2.530893606173364],[0.51531572683801,-2.402893611884287]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[0.04669599707542471,-1.190966780986395,0.71338606911949],"aabb_xy":[[0.0358555188489098,-1.2081530622770438],[0.05753647530193961,-1.1737804996957464]]}],"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":0.6933872541824144,"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/2491.png","name":"2491"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2491.png","name":"2491"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9013.png","name":"9013"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3585.png","name":"3585"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4283.png","name":"4283"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7559.png","name":"7559"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":658.197874704358,"rotation_z_degrees":246.61028516425253,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0017668354483796472,0.01745902365976357,0.002598275636333039]},{"name":"camera_2","offset_m":[0.00560931623684123,-0.004605129061098294,0.0164244197997411]},{"name":"camera_3","offset_m":[-0.006646867674545271,-0.019400961421604652,-0.012539065774275656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008701542833332995,0.0017164734921627824,0.0019882375215716152],"end_effector_yaw_offset_degrees":0.09782623120079892},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011457229630805516,-0.0002711593671372676,-0.0002495436174037894],"end_effector_yaw_offset_degrees":-0.5265167459021727},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013888366460503385,-0.001142759022752923,-0.0011059176650240468],"end_effector_yaw_offset_degrees":-0.6405066405724384}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004370157711905303,0.0012236705436438249],"position_m":[0.2922298422880947,0.3666236705436438,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-5.74446530433783e-06,-0.002393382851516208],"position_m":[0.27069425553469567,-0.3580933828515162,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007554392788324963,-0.002548994361019933],"position_m":[0.3429445607211675,0.2625510056389801,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002702544209684008,-0.0034468318619612693],"position_m":[0.310297455790316,0.059853168138038725,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7dd647d79a82e43719066a19cefe2826e4ef01be65427ee75af8d0b441b162ac","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0059.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2491/tex_ceiling_textures_7559/tex_floor_textures_4283/tex_table_textures_9013/tex_wall_textures_3585","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6484591197849583645,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6484591197849583645,"visual_seed":6484591197849583645,"scene_id":"lab_003","finished_at":"2026-09-04T18:35:48"} +{"episode_id":"ep_000060","started_at":"2026-09-04T18:35:50","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.3633878857433737,-1.6607998605735217,0.71338606911949],"aabb_xy":[[-0.4133878874048685,-1.7107983028292244],[-0.31338788408187895,-1.610801418317819]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.49915764010575436,0.35956002005621324,0.71338606911949],"aabb_xy":[[-0.5123885856404357,0.34633260103421376],[-0.48592669457107307,0.3727874390782126]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.4029186932576813,-2.144937015347579,0.71338606911949],"aabb_xy":[[-0.4204186925357682,-2.162275115413925],[-0.38541869397959444,-2.127598915281233]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.37797671900696883,1.2057087655966043,0.71338606911949],"aabb_xy":[[-0.4479767211383983,1.1829467999709085],[-0.30797671687553924,1.2284707312222998]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.47030706423255664,1.1675385846656767,0.71338606911949],"aabb_xy":[[0.4225008966187879,1.1025385819586178],[0.5181132318463253,1.2325385873727357]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.457496282507756,0.8779229133939714,0.71338606911949],"aabb_xy":[[-0.4690652632546926,0.8529229132770397],[-0.44592730176081946,0.9029229135109031]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[0.44349654498028546,-1.934993280092193,0.71338606911949],"aabb_xy":[[0.43791487334615664,-1.9474932799099687],[0.44907821661441416,-1.9224932802744177]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[-0.39688310657646825,-0.038901382527115835,0.71338606911949],"aabb_xy":[[-0.4086512933711258,-0.12390138243233742],[-0.3851149197818108,0.046098617378105736]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.040112821708672586,-0.6761908952138354,0.71338606911949],"aabb_xy":[[0.030952942764795988,-0.6827221132573724],[0.049272700652549184,-0.6696596771702983]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[0.1409151234711199,-2.2630483964594106,0.71338606911949],"aabb_xy":[[0.06091512204099267,-2.34256555147202],[0.22091512490124707,-2.183531241446801]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.1438176251211556,-1.826199376943984,0.71338606911949],"aabb_xy":[[0.13501556981218285,-1.834010703098913],[0.15261968043012827,-1.8183880507890549]]},{"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_11","position":[-0.4548316757651326,-1.0808609713568798,0.71338606911949],"aabb_xy":[[-0.4609263036532509,-1.0894303659085485],[-0.44873704787701424,-1.072291576805211]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[-0.2909860003017762,0.9972373727782307,0.71338606911949],"aabb_xy":[[-0.3559860003360789,0.9505366960979034],[-0.22598600026747345,1.043938049458558]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[0.42912683705761645,-1.3827524158257845,0.71338606911949],"aabb_xy":[[0.3675360778336237,-1.4467524139348316],[0.4907175962816093,-1.3187524177167378]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[0.6603861888505538,1.1601559038400588,0.71338606911949],"aabb_xy":[[0.6563080309435041,1.1560749235917955],[0.6644643467576035,1.1642368840883222]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[0.4335543808954747,-1.0973576933124003,0.71338606911949],"aabb_xy":[[0.41105524516924774,-1.1198576940906633],[0.4560535166217017,-1.0748576925341373]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[-0.24632144787037208,-1.214185511640079,0.71338606911949],"aabb_xy":[[-0.2542447281091204,-1.2366855118780824],[-0.23839816763162375,-1.1916855114020757]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[-0.11226844424216664,-2.2688409696703125,0.71338606911949],"aabb_xy":[[-0.1959906697422491,-2.358840973205008],[-0.028546218742084184,-2.178840966135616]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.4087706895705394,-2.388415700169815,0.71338606911949],"aabb_xy":[[0.35877069092461816,-2.4383352438292776],[0.45877068821646055,-2.338496156510353]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.1732119933759615,1.1499840198099336,0.71338606911949],"aabb_xy":[[0.12322775766778427,1.099984020996438],[0.22319622908413872,1.1999840186234292]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[0.6212747813197237,-1.7551599408368401,0.71338606911949],"aabb_xy":[[0.6158168356827036,-1.8351599441444988],[0.6267327269567438,-1.6751599375291806]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[0.38512030966607846,-0.7961152685919008,0.71338606911949],"aabb_xy":[[0.305120307503316,-0.8760704522180444],[0.46512031182884095,-0.7161600849657571]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[0.6477856219701197,1.7203725744580205,0.71338606911949],"aabb_xy":[[0.5827856234130468,1.6906200410441379],[0.7127856205271925,1.7501251078719031]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[-0.23998260788625797,-0.6533733033380589,0.71338606911949],"aabb_xy":[[-0.2774826094018896,-0.6646000763542039],[-0.20248260637062623,-0.6421465303219138]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[-0.6328674623125,1.2345443360040238,0.71338606911949],"aabb_xy":[[-0.6678674622085188,1.2261701004920837],[-0.597867462416481,1.2429185715159639]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_25","position":[0.421533553970739,-2.1938919435617628,0.71338606911949],"aabb_xy":[[0.3665335543489932,-2.2488756363492355],[0.4765335535924849,-2.13890825077429]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_26","position":[-0.20434686400641067,-1.3500917966577877,0.71338606911949],"aabb_xy":[[-0.21197113209658894,-1.3577250201943316],[-0.19672259591623245,-1.3424585731212442]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_27","position":[-0.4521789079347437,-0.5852330391361926,0.71338606911949],"aabb_xy":[[-0.472237319547984,-0.6052981260453502],[-0.4321204963215034,-0.5651679522270351]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_28","position":[0.2144465479397739,-1.3492336867644896,0.71338606911949],"aabb_xy":[[0.20633289326639678,-1.3573395032185185],[0.222560202613151,-1.3411278703104603]]}],"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":0.689820205529128,"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/8499.png","name":"8499"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8499.png","name":"8499"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2086.png","name":"2086"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6040.png","name":"6040"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6314.png","name":"6314"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2845.png","name":"2845"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":756.8263698315345,"rotation_z_degrees":61.385873326514975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01834960685577435,0.001922487153627559,0.01907069724466644]},{"name":"camera_2","offset_m":[0.01934296334897317,-3.618554812129943e-05,0.013451663660926]},{"name":"camera_3","offset_m":[-0.002282200307039642,-0.007105250513332556,-0.005168549984611257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012356035464339827,-0.0003505391906861383,-0.0005672571937570723],"end_effector_yaw_offset_degrees":0.5095870458083853},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017202454736547597,-0.00014607079498131221,0.0011947348666973378],"end_effector_yaw_offset_degrees":0.9490890889430887},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017220533449419184,-0.0018689485324902399,-0.0016661329759810263],"end_effector_yaw_offset_degrees":0.7987603601620716}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00037455889318543847,-0.0039031658846582227],"position_m":[0.2969745588931854,0.3614968341153418,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038812309558061723,-0.0019088624513237886],"position_m":[0.2668187690441938,-0.3576088624513238,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023644729511474857,0.001964320316106484],"position_m":[0.3460644729511475,0.2670643203161065,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005476083247656881,-0.00460309005471811],"position_m":[0.3135476083247657,0.058696909945281886,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7f2ffab44a8d98fbbd66d1b1302d0d3005014c003952f091bee94c3361dfa6ee","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0060.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8499/tex_ceiling_textures_2845/tex_floor_textures_6314/tex_table_textures_2086/tex_wall_textures_6040","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6531137943896155953,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6531137943896155953,"visual_seed":6531137943896155953,"scene_id":"lab_003","finished_at":"2026-09-04T18:38:48"} +{"episode_id":"ep_000061","started_at":"2026-09-04T18:38:51","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.1731238744089234,-2.0576859237022096,0.71338606911949],"aabb_xy":[[0.15562394097494,-2.0751859236224437],[0.19062380784290675,-2.0401859237819746]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.4815486305024044,0.8999404195189609,0.71338606911949],"aabb_xy":[[0.41754862828199735,0.8555673353936726],[0.5455486327228114,0.9443135036442492]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.47456629385267846,-1.340705656528889,0.71338606911949],"aabb_xy":[[-0.5245393593851939,-1.3907056563414222],[-0.42459322832016305,-1.2907056567163564]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.1584680726921296,-0.8264922576599227,0.71338606911949],"aabb_xy":[[-0.1649697092001342,-0.8362600796862325],[-0.15196643618412498,-0.816724435633613]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[-0.6006921886893372,1.2500217595856804,0.71338606911949],"aabb_xy":[[-0.6646921919790453,1.2066868405817628],[-0.536692185399629,1.293356678589598]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.2424037285814547,-1.7008255645975836,0.71338606911949],"aabb_xy":[[-0.26490372859160294,-1.7149217842371869],[-0.21990372857130638,-1.6867293449579803]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[0.1206830312835051,1.2001468753435467,0.71338606911949],"aabb_xy":[[0.08318303270788428,1.1874105796799885],[0.15818302985912588,1.2128831710071044]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[-0.029670018119939523,0.7391759169768481,0.71338606911949],"aabb_xy":[[-0.11967001462081127,0.6932642745583898],[0.060329978380932237,0.7850875593953063]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[-0.3605868135529821,0.6157642148884364,0.71338606911949],"aabb_xy":[[-0.398086813658575,0.6089420530354552],[-0.3230868134473891,0.6225863767414175]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[-0.48126364572718583,-1.0689522913234153,0.71338606911949],"aabb_xy":[[-0.5452636459876566,-1.113961090676343],[-0.41726364546671507,-1.023943491970487]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.125365149380115,-0.42411079129216445,0.71338606911949],"aabb_xy":[[-0.16286514972834276,-0.43590218687324794],[-0.08786514903188725,-0.41231939571108084]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[0.23615461772186275,-2.302873109535257,0.71338606911949],"aabb_xy":[[0.2027144425258431,-2.3363167353661862],[0.2695947929178823,-2.2694294837043265]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.26514139498906286,0.12349247855552603,0.71338606911949],"aabb_xy":[[-0.28402577875757307,0.10460655377517326],[-0.24625701122055266,0.1423784033358788]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.3779835756907115,-0.8976997550406456,0.71338606911949],"aabb_xy":[[0.3725256300536914,-0.9776997583483046],[0.3834415213277315,-0.8176997517329864]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.3494145187773257,0.22239453463411696,0.71338606911949],"aabb_xy":[[-0.35821657408629837,0.21458320847918785],[-0.34061246346835294,0.230205860789046]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.42577232686102606,-2.4144018436886956,0.71338606911949],"aabb_xy":[[0.4142033461140895,-2.4394018438056273],[0.43734130760796264,-2.389401843571764]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[0.31986757413537537,-0.5659492938815203,0.71338606911949],"aabb_xy":[[0.2398675767317819,-0.6459418650797031],[0.39986757153896874,-0.4859567226833375]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[0.15402242737319072,-0.6667775175897659,0.71338606911949],"aabb_xy":[[0.13152242755928834,-0.6712521339602466],[0.1765224271870931,-0.6623029012192851]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[0.2768623822331927,-1.6213339626616103,0.71338606911949],"aabb_xy":[[0.19686238425240768,-1.628935503623462],[0.35686238021397776,-1.6137324216997582]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[-0.25625468390082606,-0.647787864368575,0.71338606911949],"aabb_xy":[[-0.31137988953041684,-0.7077878658098621],[-0.2011294782712353,-0.5877878629272878]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[-0.43636201342442194,-1.5113815491116007,0.71338606911949],"aabb_xy":[[-0.5163620155871844,-1.591336732737744],[-0.35636201126165945,-1.4314263654854567]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[-0.39037113473570995,-1.7997778769003876,0.71338606911949],"aabb_xy":[[-0.39763238230611736,-1.8125648871638973],[-0.38310988716530253,-1.7869908666368783]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.5093394513837648,-0.8284705348678039,0.71338606911949],"aabb_xy":[[0.49113362772251723,-0.8394959354497956],[0.5275452750450126,-0.8174451342858123]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[0.07869139988509088,1.0377228993456042,0.71338606911949],"aabb_xy":[[0.07069791008980887,1.0297247674051286],[0.08668488968037293,1.0457210312860798]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[-0.6286676243349589,-2.457431877202528,0.71338606911949],"aabb_xy":[[-0.6936676253354594,-2.508218242357203],[-0.5636676233344584,-2.406645512047853]]}],"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":0.6920222529805001,"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/3949.png","name":"3949"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3949.png","name":"3949"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4759.png","name":"4759"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7166.png","name":"7166"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7763.png","name":"7763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3641.png","name":"3641"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":515.0062069342117,"rotation_z_degrees":123.8943517737211,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0009138630384226201,-0.013075339575700808,0.018056329121995365]},{"name":"camera_2","offset_m":[0.006233924487814364,0.011012328485872518,-0.005907414041982202]},{"name":"camera_3","offset_m":[0.018815491791748507,-0.0006360276444764522,-0.01951446518377518]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012035606714986594,0.0004043259141062118,-0.0008726852655616684],"end_effector_yaw_offset_degrees":0.16991616123865327},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00036109200389844096,-0.000567946663122175,0.0009499972556379433],"end_effector_yaw_offset_degrees":0.04543007055793069},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018538448518028755,-0.0019862355626388112,-0.0018708160385613626],"end_effector_yaw_offset_degrees":-0.7280497461796114}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00025003787339049864,0.0005536937710704602],"position_m":[0.2968500378733905,0.36595369377107045,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014047862660113535,0.0026237417042790654],"position_m":[0.27210478626601137,-0.3530762582957209,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002864492967892647,-0.0007313251162879173],"position_m":[0.34083550703210735,0.2643686748837121,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003414725106208818,-0.003787301138331264],"position_m":[0.3095852748937912,0.05951269886166873,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"387e01068d9a11cf1ca0de405a5074dd2169f66d656c37dc9c55f6178ecd5e69","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0061.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3949/tex_ceiling_textures_3641/tex_floor_textures_7763/tex_table_textures_4759/tex_wall_textures_7166","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5178324555119375100,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5178324555119375100,"visual_seed":5178324555119375100,"scene_id":"lab_003","finished_at":"2026-09-04T18:41:58"} +{"episode_id":"ep_000062","started_at":"2026-09-04T18:42:02","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.5373269914792028,0.7764212200273359,0.71338606911949],"aabb_xy":[[-0.6173269888827961,0.696428648829153],[-0.45732699407560934,0.8564137912255186]]},{"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_1","position":[-0.49935426961430696,-2.4423987789004182,0.71338606911949],"aabb_xy":[[-0.5172233773687624,-2.4562316868776293],[-0.48148516185985146,-2.428565870923207]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[0.09757128623546252,-2.1632277842974235,0.71338606911949],"aabb_xy":[[0.09198961460133376,-2.1757277841151983],[0.10315295786959128,-2.1507277844796477]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[0.5017629583714895,-0.17444421632972773,0.71338606911949],"aabb_xy":[[0.46443168184624695,-0.20909727112458004],[0.5390942348967321,-0.13979116153487542]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.2190678829144171,1.415440440001849,0.71338606911949],"aabb_xy":[[-0.2255695194224217,1.4056726179755392],[-0.21256624640641247,1.4252082620281588]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.21148295246424337,-1.687411292557187,0.71338606911949],"aabb_xy":[[-0.2714829533250561,-1.7388377225636733],[-0.1514829516034305,-1.6359848625507005]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.13093958303761577,1.6223376254912822,0.71338606911949],"aabb_xy":[[-0.15722840735805643,1.5960661918366306],[-0.10465075871717512,1.648609059145933]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[0.5442275951996292,1.5069262746180674,0.71338606911949],"aabb_xy":[[0.5348805876173339,1.4926226524004234],[0.5535746027819244,1.5212298968357114]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.3737327170906875,0.5288048947096966,0.71338606911949],"aabb_xy":[[-0.38135698518086586,0.521171671173153],[-0.3661084490005093,0.5364381182462404]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.4772490858734062,-0.31050906962034786,0.71338606911949],"aabb_xy":[[-0.49971385584481137,-0.33300907049920836],[-0.45478431590200113,-0.28800906874148735]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[0.1332136370407443,1.0062041398650634,0.71338606911949],"aabb_xy":[[0.0692136399286386,0.957171770070653],[0.19721363415284998,1.0552365096594742]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[-0.041774280613543824,0.47903672138366904,0.71338606911949],"aabb_xy":[[-0.04901804665978915,0.3990367231800666],[-0.0345305145672985,0.5590367195872714]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.40344705933586905,0.9442371199310777,0.71338606911949],"aabb_xy":[[-0.41144054913115113,0.9362389879906022],[-0.3954535695405871,0.9522352518715534]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[-0.27989586396547245,-0.6443284737822517,0.71338606911949],"aabb_xy":[[-0.30239586447751304,-0.6668203321476499],[-0.25739586345343185,-0.6218366154168532]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.6365182644882126,-1.3116849052301756,0.71338606911949],"aabb_xy":[[-0.6915105151237235,-1.3666849069734883],[-0.5815260138527016,-1.2566849034868628]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.33977486374469223,0.6444361312887552,0.71338606911949],"aabb_xy":[[0.2946035458965233,0.5804361341442169],[0.3849461815928613,0.7084361284332937]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[-0.12529115440099525,-2.1968371413966747,0.71338606911949],"aabb_xy":[[-0.13341884259430847,-2.2057507498073825],[-0.11716346620768203,-2.187923532985967]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.497828345716647,0.4106045293962457,0.71338606911949],"aabb_xy":[[-0.5283125958436772,0.36060452961474976],[-0.46734409558961687,0.46060452917774164]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[-0.23158357831543092,-0.337676278462149,0.71338606911949],"aabb_xy":[[-0.2661746611694761,-0.40267627874718],[-0.1969924954613857,-0.27267627817711787]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.03786162288536754,-1.866619953895571,0.71338606911949],"aabb_xy":[[-0.06037531470882473,-1.9366199544965783],[-0.01534793106191034,-1.7966199532945633]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.3461144539144266,-2.31380880495865,0.71338606911949],"aabb_xy":[[-0.38361445470642197,-2.3201766459168396],[-0.3086144531224311,-2.307440964000459]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[0.6726707941195615,-1.2087770698032534,0.71338606911949],"aabb_xy":[[0.6666337811188969,-1.2148037708722017],[0.6787078071202264,-1.2027503687343055]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.6223896488448107,0.495614564655777,0.71338606911949],"aabb_xy":[[-0.6445621758214615,0.4734388974996538],[-0.6002171218681598,0.5177902318119001]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[0.2721894745380582,1.6569815765866402,0.71338606911949],"aabb_xy":[[0.20818947524388998,1.592995436217786],[0.3361894738322264,1.7209677169554944]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[0.031272576120920936,-0.7343738507091717,0.71338606911949],"aabb_xy":[[0.013725881204802004,-0.7718738522734231],[0.04881927103703987,-0.6968738491449206]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[0.18407505119244416,-1.5801554330989973,0.71338606911949],"aabb_xy":[[0.16739791519934863,-1.5968553570729274],[0.20075218718553964,-1.5634555091250668]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[0.630099894481077,-1.9560432203507818,0.71338606911949],"aabb_xy":[[0.5660998928030797,-2.0045606118300965],[0.6940998961590744,-1.9075258288714678]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[-0.5562766775657891,-1.540361831130028,0.71338606911949],"aabb_xy":[[-0.6062766792272838,-1.5903602733857305],[-0.5062766759042943,-1.490363388874325]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_28","position":[-0.1326918329246486,1.1159163180012772,0.71338606911949],"aabb_xy":[[-0.19669183614328645,1.0691932061022689],[-0.06869182970601073,1.1626394299002856]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_29","position":[-0.0032916320327368576,-1.5782357067209543,0.71338606911949],"aabb_xy":[[-0.08329163068962286,-1.5927405656452172],[0.07670836662414915,-1.5637308477966918]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_30","position":[0.48603902942827815,-1.3684692302361745,0.71338606911949],"aabb_xy":[[0.4796252157850931,-1.3748790504838426],[0.492452843071463,-1.362059409988506]]},{"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_31","position":[0.6155147921518309,-2.1656223643153165,0.71338606911949],"aabb_xy":[[0.5855231294179607,-2.195622363652117],[0.6455064548857014,-2.135622364978516]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_32","position":[0.4958304295950515,-1.527839261601476,0.71338606911949],"aabb_xy":[[0.43423967037105876,-1.591839259710523],[0.5574211888190443,-1.4638392634924293]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_33","position":[-0.11804732463255008,1.2957143298545368,0.71338606911949],"aabb_xy":[[-0.17804732522856626,1.2409018573093133],[-0.0580473240365339,1.3505268023997603]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_34","position":[0.575529141702334,-1.303815222378789,0.71338606911949],"aabb_xy":[[0.5536393941133931,-1.393815219668038],[0.5974188892912747,-1.2138152250895398]]}],"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":0.6965092813475043,"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/7792.png","name":"7792"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7792.png","name":"7792"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7155.png","name":"7155"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/615.png","name":"615"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/582.png","name":"582"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1899.png","name":"1899"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":755.9548134713216,"rotation_z_degrees":341.5884811700126,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003439116042645251,-0.001761940284309628,-0.006356109617579455]},{"name":"camera_2","offset_m":[0.012343543860733493,-0.00421842053528548,0.012712635150807738]},{"name":"camera_3","offset_m":[0.0035242615385222657,0.014939069269480593,-0.010271432336189146]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011262683410772256,-0.00030846179914876875,0.0007949585857719307],"end_effector_yaw_offset_degrees":0.2614720686302372},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008312902479713261,-0.0013430813254824896,0.0017253686402524063],"end_effector_yaw_offset_degrees":0.5954326558469789},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00015960522083562642,0.0007243214394834921,-0.001637626102823711],"end_effector_yaw_offset_degrees":0.03349909863012557}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004647044462059622,0.0006811173455409901],"position_m":[0.3012470444620596,0.366081117345541,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035630207363318645,-0.002517052431816306],"position_m":[0.27426302073633185,-0.35821705243181634,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038362386137363582,-0.0019928600049339516],"position_m":[0.34753623861373634,0.2631071399950661,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003260874637120801,0.0015662771938860232],"position_m":[0.3097391253628792,0.06486627719388602,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba820f06cddd6a27182fe66fb82a6558ca533d449e930f2cf4554813147fd86a","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0062.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7792/tex_ceiling_textures_1899/tex_floor_textures_582/tex_table_textures_7155/tex_wall_textures_615","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":7230585882672477393,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":7230585882672477393,"visual_seed":7230585882672477393,"scene_id":"lab_003","finished_at":"2026-09-04T18:45:03"} +{"episode_id":"ep_000063","started_at":"2026-09-04T18:45:06","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.2932961562520743,-0.9598354412167032,0.71338606911949],"aabb_xy":[[0.2432961545905795,-1.0098338834724054],[0.343296157913569,-0.9098369989610002]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[-0.6120768071977425,0.797979124818673,0.71338606911949],"aabb_xy":[[-0.6272396801746795,0.7828136675235543],[-0.5969139342208053,0.8131445821137918]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.5951238139374566,1.4372714058000002,0.71338606911949],"aabb_xy":[[0.5311238122594593,1.3887540143206862],[0.659123815615454,1.4857887972793147]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.32761797120963676,1.0124530951554567,0.71338606911949],"aabb_xy":[[-0.3348792187800442,0.9996660848919472],[-0.32035672363922935,1.0252401054189662]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.3896795638528386,1.2826181654991413,0.71338606911949],"aabb_xy":[[-0.40432296940687157,1.2679594458423569],[-0.3750361582988056,1.2972768851559253]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.021772113918153257,-1.0764377848754847,0.71338606911949],"aabb_xy":[[-0.04222788319395243,-1.1254701546698953],[0.08577211103025895,-1.027405415081074]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.31176246776136335,0.1040166118700836,0.71338606911949],"aabb_xy":[[-0.322174026441847,0.0986708785341851],[-0.3013509090808796,0.10936234520598204]]},{"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_7","position":[-0.5780152520251539,1.7915686370826385,0.71338606911949],"aabb_xy":[[-0.5873088702623045,1.7540686385945046],[-0.5687216337880033,1.8290686355707724]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.6450158430719894,0.5784038741030431,0.71338606911949],"aabb_xy":[[0.6225194216381253,0.5559038742962955],[0.6675122645058535,0.6009038739097904]]},{"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_9","position":[0.5555680957085967,-0.47645468174115013,0.71338606911949],"aabb_xy":[[0.5468701334178814,-0.4885796560486249],[0.564266057999312,-0.46432970743367546]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[0.5167852499258612,1.7990230911731433,0.71338606911949],"aabb_xy":[[0.4517852488199179,1.774057718105015],[0.5817852510318045,1.8239884642412716]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.2054059381673473,0.98542605773974,0.71338606911949],"aabb_xy":[[0.1414059348776392,0.9420911387358224],[0.26940594145705543,1.0287609767436576]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.6590810325562315,0.18567945317422963,0.71338606911949],"aabb_xy":[[0.6365810320441909,0.16318759480883127],[0.6815810330682721,0.20817131153962798]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.656261927675557,1.670969540621353,0.71338606911949],"aabb_xy":[[0.5962619260326352,1.6189693913294085],[0.7162619293184789,1.722969689913297]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.3827274154163103,-1.0799533419814227,0.71338606911949],"aabb_xy":[[0.34522741559927667,-1.0845915532925643],[0.4202274152333438,-1.0753151306702806]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[0.6984406565174905,-1.8729285886423979,0.71338606911949],"aabb_xy":[[0.6781563537940918,-1.8932112137851067],[0.7187249592408893,-1.852645963499689]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[-0.3596692326161392,-1.3348233354757577,0.71338606911949],"aabb_xy":[[-0.4074754002299078,-1.3998233381828165],[-0.31186306500237054,-1.2698233327686985]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.571734538413589,-0.22272032796284247,0.71338606911949],"aabb_xy":[[0.5643220828722005,-0.22857153838447042],[0.5791469939549775,-0.21686911754121452]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[-0.6182296357348612,1.4493450959008665,0.71338606911949],"aabb_xy":[[-0.629474691305479,1.4381032981767712],[-0.6069845801642433,1.4605868936249617]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.11402381884225088,1.2400622215363089,0.71338606911949],"aabb_xy":[[0.1032508449208831,1.20506222331727],[0.12479679276361866,1.275062219755348]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.1412766675560837,-2.035167524940828,0.71338606911949],"aabb_xy":[[0.10627666757958787,-2.044632140988445],[0.17627666753257953,-2.0257029088932113]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[-0.5580378210467356,-2.162154459164924,0.71338606911949],"aabb_xy":[[-0.5723722461728991,-2.1742146747194626],[-0.5437033959205722,-2.1500942436103854]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.48542244428748615,-1.8416940742182482,0.71338606911949],"aabb_xy":[[-0.5222170774123924,-1.8785999493148304],[-0.4486278111625799,-1.8047881991216659]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[0.047038679848747544,1.5622713660850294,0.71338606911949],"aabb_xy":[[0.0017600649675982918,1.4982713667368455],[0.0923172947298968,1.6262713654332128]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.6139795901488356,-1.166266857504943,0.71338606911949],"aabb_xy":[[-0.6939795873084109,-1.1778144584627601],[-0.5339795929892603,-1.154719256547126]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[0.6562064062037152,-2.006563406861919,0.71338606911949],"aabb_xy":[[0.6187064060981222,-2.0133855687149],[0.6937064063093081,-1.9997412450089378]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_26","position":[0.369234846796743,-1.7417267211275087,0.71338606911949],"aabb_xy":[[0.3142425961612321,-1.7967267228708215],[0.42422709743225406,-1.686726719384196]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[0.13787082234593895,0.7577684715149742,0.71338606911949],"aabb_xy":[[0.1296562772302549,0.7490918812173328],[0.14608536746162287,0.7664450618126155]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_28","position":[-0.4217894028273239,-1.6108222022687244,0.71338606911949],"aabb_xy":[[-0.4767894020039134,-1.6658118770436818],[-0.3667894036507344,-1.5558325274937665]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[0.2559131651689678,0.7850274486571314,0.71338606911949],"aabb_xy":[[0.20189756888706772,0.7210274457648742],[0.30992876145086773,0.8490274515493885]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_30","position":[0.49095870611852743,1.0902637336505814,0.71338606911949],"aabb_xy":[[0.4012716298104119,1.0002637333961306],[0.5806457824266429,1.1802637339050317]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_31","position":[0.5493793458559908,-0.9627222017226129,0.71338606911949],"aabb_xy":[[0.5268802101297638,-0.9852222025008759],[0.5718784815822178,-0.9402222009443499]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_32","position":[-0.18834846573205566,-1.4888441567951392,0.71338606911949],"aabb_xy":[[-0.20423295899738078,-1.5031970970939634],[-0.17246397246673048,-1.4744912164963153]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_33","position":[0.3526183343129268,-0.5550219922896478,0.71338606911949],"aabb_xy":[[0.3297026214278768,-0.5779262894260714],[0.3755340471979767,-0.5321176951532244]]}],"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":0.6913735463165498,"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/1440.png","name":"1440"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1440.png","name":"1440"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2836.png","name":"2836"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5419.png","name":"5419"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9216.png","name":"9216"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/745.png","name":"745"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":729.2856813445318,"rotation_z_degrees":176.27937351559677,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004713067745799725,-0.019596675553453284,0.013666183479193999]},{"name":"camera_2","offset_m":[0.006264161995636158,0.007861222833193602,-0.015394264367424332]},{"name":"camera_3","offset_m":[0.011476081515053391,0.005612412066426285,-0.0069471007574106736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010136404075346698,-0.0016777658844726795,0.0014692294520951997],"end_effector_yaw_offset_degrees":-0.8276593515198718},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019277118910695926,-0.0009829205173451517,-0.0010296804205893145],"end_effector_yaw_offset_degrees":-0.8159555314276183},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009815796365969152,0.0006211353868628409,0.0012815595426275547],"end_effector_yaw_offset_degrees":-0.036677629868878237}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007518156653252119,-0.004925895139271811],"position_m":[0.2973518156653252,0.3604741048607282,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021049669311068832,-0.0019741956419426243],"position_m":[0.2685950330688931,-0.35767419564194264,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004601503200158699,0.0002568666436851552],"position_m":[0.3483015032001587,0.2653568666436852,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009162713601888663,0.003362237809746797],"position_m":[0.31208372863981115,0.0666622378097468,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"19d616ab9200ac3b477c2d8a27740126c25c00efa387cfc16263ce75f8dbd15c","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1440/tex_ceiling_textures_745/tex_floor_textures_9216/tex_table_textures_2836/tex_wall_textures_5419","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4550338681060106541,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4550338681060106541,"visual_seed":4550338681060106541,"scene_id":"lab_003","finished_at":"2026-09-04T18:48:16"} +{"episode_id":"ep_000064","started_at":"2026-09-04T18:48:19","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.5513766212117357,-0.3594448868671529,0.71338606911949],"aabb_xy":[[-0.5926254322416503,-0.41444488637937027],[-0.5101278101818209,-0.30444488735493536]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[-0.12733879412593907,1.2781747751120527,0.71338606911949],"aabb_xy":[[-0.13546648231925232,1.269261166701345],[-0.11921110593262588,1.2870883835227604]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.42035503724090045,-2.031792752213981,0.71338606911949],"aabb_xy":[[-0.42951491618477705,-2.038323970257518],[-0.41119515829702386,-2.0252615341704443]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.3832667940689707,-2.2491849458239654,0.71338606911949],"aabb_xy":[[0.3332667927080835,-2.299162850399381],[0.43326679542985796,-2.19920704124855]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[-0.3932634343153812,-2.2502694399770373,0.71338606911949],"aabb_xy":[[-0.4482634334919706,-2.3052591147519945],[-0.33826343513879165,-2.1952797652020792]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.4257223431348749,-0.33953857756453765,0.71338606911949],"aabb_xy":[[0.40244050093674355,-0.42453857886176566],[0.44900418533300623,-0.2545385762673095]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.48000028510121706,-2.497411038293443,0.71338606911949],"aabb_xy":[[0.39000028142429877,-2.5588434448705466],[0.5700002887781351,-2.435978631716338]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.4150696824245858,0.718317686327862,0.71338606911949],"aabb_xy":[[-0.43261637734070474,0.6808176847636107],[-0.3975229875084669,0.7558176878921132]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[0.12230858088779173,-2.4845430878092323,0.71338606911949],"aabb_xy":[[0.0682929846058917,-2.548543090701489],[0.1763241771696917,-2.4205430849169747]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.46610749275759505,1.6655615483796136,0.71338606911949],"aabb_xy":[[-0.4741014813352984,1.657561468284523],[-0.4581135041798916,1.6735616284747037]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[0.7003775308254077,-2.077008288952281,0.71338606911949],"aabb_xy":[[0.6778638390019504,-2.147008289553288],[0.7228912226488647,-2.007008288351273]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[-0.2075301686119741,-0.72963199279763,0.71338606911949],"aabb_xy":[[-0.2875301655750132,-0.8067076344414034],[-0.1275301716489349,-0.6525563511538565]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.5900287953158627,1.7295468846052056,0.71338606911949],"aabb_xy":[[-0.6700287957860787,1.7212361769908575],[-0.5100287948456468,1.737857592219554]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.582745161662453,1.7122659335957802,0.71338606911949],"aabb_xy":[[0.5614671535189807,1.647265931269707],[0.6040231698059252,1.7772659359218532]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.6512443454140159,0.7202263946693126,0.71338606911949],"aabb_xy":[[-0.6762443445796491,0.713274148963956],[-0.6262443462483829,0.7271786403746692]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.40465151037740393,-1.1092129545737601,0.71338606911949],"aabb_xy":[[-0.412765165050781,-1.1173187710277892],[-0.3965378557040268,-1.101107138119731]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[-0.2383549360051634,-1.3688495390268847,0.71338606911949],"aabb_xy":[[-0.30235493243248535,-1.4160191628489813],[-0.1743549395778415,-1.3216799152047884]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[-0.1932619612176648,0.7860103246071284,0.71338606911949],"aabb_xy":[[-0.25826196125196754,0.7393096479268011],[-0.12826196118336208,0.8327110012874557]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[-0.28694438549102413,-1.041016516393575,0.71338606911949],"aabb_xy":[[-0.33475055310479274,-1.106016519100634],[-0.23913821787725542,-0.976016513686516]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[-0.6330929900058546,1.370497493790881,0.71338606911949],"aabb_xy":[[-0.6580929899383726,1.3636148255699576],[-0.6080929900733368,1.3773801620118042]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[0.6533484414487198,0.9720102701610531,0.71338606911949],"aabb_xy":[[0.5933484405879069,0.9205838401545666],[0.7133484423095325,1.0234367001675393]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[0.4870531005790819,1.2671230689534245,0.71338606911949],"aabb_xy":[[0.4651444184397309,1.2452224021333336],[0.508961782718433,1.289023735773515]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[0.3497326003763497,-1.3677066424555255,0.71338606911949],"aabb_xy":[[0.3388921221498348,-1.3848929237461745],[0.3605730786028646,-1.3505203611648766]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[0.2376726064322614,-1.2075877731440434,0.71338606911949],"aabb_xy":[[0.21408748296836655,-1.2725877753894752],[0.26125772989615625,-1.1425877708986116]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[-0.3186817693510052,1.2608695291252032,0.71338606911949],"aabb_xy":[[-0.38368177030813233,1.2089213171914974],[-0.2536817683938779,1.3128177410589086]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.5681064596427634,0.34429185498852144,0.71338606911949],"aabb_xy":[[-0.6321064628614013,0.29756874308951314],[-0.5041064564241255,0.39101496688752985]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.008584831375844426,1.332743780932212,0.71338606911949],"aabb_xy":[[-0.07258483359625145,1.2883706968069237],[0.0554151708445626,1.3771168650575003]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_27","position":[-0.09085744912282234,-2.3553593324370894,0.71338606911949],"aabb_xy":[[-0.09528807847766252,-2.360807704171772],[-0.08642681976798217,-2.349910960702407]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[-0.4795082935516721,0.09641943875684333,0.71338606911949],"aabb_xy":[[-0.5445082945521726,0.04563307360216838],[-0.4145082925511716,0.14720580391151827]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_29","position":[0.6111208265735857,0.09644818568520064,0.71338606911949],"aabb_xy":[[0.547120829287937,0.054941466732356684],[0.6751208238592343,0.1379549046380446]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[-0.2794412874673159,-0.2602437952778738,0.71338606911949],"aabb_xy":[[-0.2955032149258335,-0.34524379709046554],[-0.2633793600087982,-0.17524379346528193]]}],"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":0.6903673838923691,"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/7063.png","name":"7063"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7063.png","name":"7063"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8563.png","name":"8563"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8428.png","name":"8428"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3494.png","name":"3494"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6413.png","name":"6413"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":709.6669146084915,"rotation_z_degrees":0.916783737875484,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00780741737314174,0.006974309674443541,0.0053250082103526615]},{"name":"camera_2","offset_m":[-0.0023599906577045186,0.002110062544490629,0.019507789982309735]},{"name":"camera_3","offset_m":[0.00774816656604457,0.0178310137694034,-0.01589761462631966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005172739618544324,-0.0011935379072753197,0.0003893567236840302],"end_effector_yaw_offset_degrees":-0.9190628753681864},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017799168529335767,-0.001321132821213882,-0.0018195441389167262],"end_effector_yaw_offset_degrees":0.29140880742088227},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002342198481132974,0.0016013595336844336,0.001322346163429096],"end_effector_yaw_offset_degrees":0.9565537917311884}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00388036368892948,0.004089683384488659],"position_m":[0.30048036368892944,0.3694896833844887,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003060216636629952,-0.00160943556432093],"position_m":[0.26763978336337,-0.35730943556432093,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033729162031649234,-0.0016084311779905837],"position_m":[0.34707291620316494,0.2634915688220094,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00443402474656701,0.003311562092009103],"position_m":[0.317434024746567,0.0666115620920091,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"48a1997f2d3f92bd8549df7810f123f43141aa8e03594453a38a7d92c1503bcf","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7063/tex_ceiling_textures_6413/tex_floor_textures_3494/tex_table_textures_8563/tex_wall_textures_8428","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":503966629096273072,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":503966629096273072,"visual_seed":503966629096273072,"scene_id":"lab_003","finished_at":"2026-09-04T18:51:20"} +{"episode_id":"ep_000065","started_at":"2026-09-04T18:51:23","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[0.40231853034807075,1.2956558189167482,0.71338606911949],"aabb_xy":[[0.33731852924212746,1.2706904458486201],[0.46731853145401403,1.3206211919848767]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.049562621490444325,-1.9120728076935603,0.71338606911949],"aabb_xy":[[8.220027648554035e-05,-1.9760728056064123],[0.09904304270440312,-1.8480728097807086]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[0.5067775998652513,1.0166852242099846,0.71338606911949],"aabb_xy":[[0.426777602705676,1.0051376232521676],[0.5867775970248266,1.0282328251678017]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[-0.05540523893889371,-1.5834042738790994,0.71338606911949],"aabb_xy":[[-0.10540007186683531,-1.6334042727743432],[-0.005410406010952114,-1.5334042749838561]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.5251418042896636,-1.3331652458320802,0.71338606911949],"aabb_xy":[[0.5137800696363773,-1.344533712238368],[0.5365035389429497,-1.3217967794257919]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[-0.46364158034043423,-2.321228199660536,0.71338606911949],"aabb_xy":[[-0.49864158031693007,-2.3306928157081526],[-0.4286415803639384,-2.31176358361292]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[-0.4205335672847001,-0.9687104961015849,0.71338606911949],"aabb_xy":[[-0.5005335642477393,-1.0457861377453583],[-0.3405335703216609,-0.8916348544578113]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.24949649847803024,-2.5036702796321215,0.71338606911949],"aabb_xy":[[-0.29949649983891746,-2.553648184207537],[-0.199496497117143,-2.453692375056706]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[0.6288045303076324,0.384702543578578,0.71338606911949],"aabb_xy":[[0.5488045329040389,0.30470997238039516],[0.7088045277112257,0.4646951147767608]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[-0.3930012270835415,-0.051507208354164113,0.71338606911949],"aabb_xy":[[-0.40315424263769073,-0.08757674992690442],[-0.38284821152939197,-0.015437666781423765]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.40505741250947996,-2.028630986573146,0.71338606911949],"aabb_xy":[[-0.469057414729887,-2.0730040706984343],[-0.34105741028907294,-1.9842579024478577]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.1175103334164207,-0.938762642208383,0.71338606911949],"aabb_xy":[[0.10504297530668505,-0.9512279668417064],[0.12997769152615635,-0.9262973175750594]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[-0.44282980519077253,-1.1497556998414833,0.71338606911949],"aabb_xy":[[-0.4793256258180512,-1.1862396422682409],[-0.40633398456349373,-1.1132717574147257]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[-0.12865239796995076,0.3344764250070984,0.71338606911949],"aabb_xy":[[-0.16544703109485703,0.29757054991051607],[-0.09185776484504449,0.3713823001036806]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[-0.27147562246360596,-1.6110109095114558,0.71338606911949],"aabb_xy":[[-0.3354713198587025,-1.6750109078121644],[-0.20747992506850932,-1.547010911210747]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[0.6083628712779976,-1.7977922946309388,0.71338606911949],"aabb_xy":[[0.5831420344181577,-1.8230160454838253],[0.633583708137837,-1.7725685437780518]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[-0.07274743550584395,1.3907239996624692,0.71338606911949],"aabb_xy":[[-0.0897575327958946,1.374589511164195],[-0.0557373382157933,1.4068584881607429]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[0.028495066527476465,1.570942073161795,0.71338606911949],"aabb_xy":[[0.005998645093612365,1.5484420733550475],[0.050991487961340565,1.5934420729685423]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.45707537271623533,-0.24571165487859892,0.71338606911949],"aabb_xy":[[-0.4722382456931725,-0.26087711217371773],[-0.44191249973929836,-0.23054619758348022]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[-0.6452301621315234,0.45839403456198946,0.71338606911949],"aabb_xy":[[-0.6627301623908602,0.444302492373217],[-0.627730161872187,0.47248557675076225]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[0.3553691037733946,-2.046353060613175,0.71338606911949],"aabb_xy":[[0.3053848680652174,-2.0963530594266704],[0.4053533394815719,-1.9963530617996792]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.397366737727441,-1.1216045404414299,0.71338606911949],"aabb_xy":[[0.33336673538463946,-1.1665453916855624],[0.4613667400702426,-1.0766636891972974]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[0.689606887771409,1.3229175014826295,0.71338606911949],"aabb_xy":[[0.6683288796279366,1.2579174991565565],[0.7108848959148811,1.3879175038087026]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_23","position":[-0.434412305614912,0.668980962604711,0.71338606911949],"aabb_xy":[[-0.47958362346308103,0.6049809654601725],[-0.3892409877667431,0.7329809597492494]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[0.027988788519479946,-2.1809975168198283,0.71338606911949],"aabb_xy":[[-0.022011213142014815,-2.2309959590755306],[0.0779887901809747,-2.130999074564125]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.16001396169076343,-0.07075254181685553,0.71338606911949],"aabb_xy":[[-0.19431087270850403,-0.10504942802679688],[-0.12571705067302277,-0.03645565560691415]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_26","position":[-0.4916289823318849,-0.4896972211746662,0.71338606911949],"aabb_xy":[[-0.5260914603449727,-0.49636089835758906],[-0.4571665043187971,-0.4830335439917434]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[-0.5218222825188283,-2.535194700057098,0.71338606911949],"aabb_xy":[[-0.5868222810759012,-2.5649472334709804],[-0.4568222839617555,-2.505442166643215]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_28","position":[-0.5663774021762014,1.0904546289329118,0.71338606911949],"aabb_xy":[[-0.5882671497651419,1.0004546316436627],[-0.5444876545872603,1.180454626222161]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_29","position":[-0.1283237759669814,0.6964767965216381,0.71338606911949],"aabb_xy":[[-0.20831759954553963,0.6164767939287965],[-0.04832995238842319,0.7764767991144796]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_30","position":[0.2892805525377796,0.8358081776722943,0.71338606911949],"aabb_xy":[[0.2629917282173389,0.8095367440176429],[0.31556937685822023,0.8620796113269453]]}],"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":0.6949461951286104,"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/9404.png","name":"9404"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9404.png","name":"9404"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8659.png","name":"8659"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8976.png","name":"8976"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/453.png","name":"453"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/185.png","name":"185"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":670.3220112263468,"rotation_z_degrees":256.0014008544009,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0001137439391653422,0.009111576462703594,-0.019786951633918585]},{"name":"camera_2","offset_m":[0.016257014312779722,0.010229405754489277,-0.019382331823640544]},{"name":"camera_3","offset_m":[-0.0043005547560742395,0.001228054446042487,0.013445278279390436]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004082260170315379,-0.0005954953827418184,0.00021418519663804134],"end_effector_yaw_offset_degrees":0.5504757661457833},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005849020475656164,-0.0019962974845968693,-0.001444691696523154],"end_effector_yaw_offset_degrees":-0.8416370864403688},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000832486287769431,-0.0016293581270813476,0.0004345310152749026],"end_effector_yaw_offset_degrees":0.03278808284867396}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003561276496589381,-0.0004262471051801279],"position_m":[0.29624387235034105,0.36497375289481987,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028780146082697635,-0.0006178331168225871],"position_m":[0.27357801460826975,-0.3563178331168226,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008045904194589407,-0.0007014103472660861],"position_m":[0.34450459041945897,0.26439858965273394,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008764764699693986,0.004139335915776982],"position_m":[0.3138764764699694,0.06743933591577697,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a7f8cf7f17b349efeaf8decef4e78b4b00228ef58a762a950476273d743276cd","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9404/tex_ceiling_textures_185/tex_floor_textures_453/tex_table_textures_8659/tex_wall_textures_8976","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1722627515302820003,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1722627515302820003,"visual_seed":1722627515302820003,"scene_id":"lab_003","finished_at":"2026-09-04T18:54:23"} +{"episode_id":"ep_000066","started_at":"2026-09-04T18:54:26","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.615840624668462,-1.0469276988939324,0.71338606911949],"aabb_xy":[[0.5871912923080457,-1.0755732581710082],[0.6444899570288781,-1.0182821396168567]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[0.12914365373370407,-1.5879711916394301,0.71338606911949],"aabb_xy":[[0.09164365221807236,-1.5991979646555752],[0.16664365524933578,-1.576744418623285]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.5382969899808444,-2.515603312286919,0.71338606911949],"aabb_xy":[[-0.547928626201274,-2.525240625066628],[-0.5286653537604148,-2.50596599950721]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[0.6538033814964022,1.2873264380936154,0.71338606911949],"aabb_xy":[[0.5922126222724095,1.2233264399845687],[0.7153941407203951,1.3513264362026625]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[-0.0786172680072138,-0.0384079421711796,0.71338606911949],"aabb_xy":[[-0.14861727013864334,-0.06116990779687525],[-0.00861726587578425,-0.015645976545483935]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[-0.2274443332618012,-0.3014066289368196,0.71338606911949],"aabb_xy":[[-0.27021104014122144,-0.3654066323586221],[-0.18467762638238103,-0.23740662551501718]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[-0.1548657408409233,1.4581102640947878,0.71338606911949],"aabb_xy":[[-0.192365741505502,1.4424232060945654],[-0.11736574017634462,1.4737973220950098]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[0.6041303700949956,0.4755337073344412,0.71338606911949],"aabb_xy":[[0.5695392872409503,0.4105337070494101],[0.6387214529490407,0.5405337076194722]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[-0.5667882554594298,-0.454241412821601,0.71338606911949],"aabb_xy":[[-0.6567882591363479,-0.5156738193987053],[-0.4767882517825115,-0.39280900624449655]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.5695021743362432,1.795283043669221,0.71338606911949],"aabb_xy":[[-0.5861793103293386,1.7785831196952908],[-0.5528250383431476,1.8119829676431514]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[0.11056128175389113,-0.6956524485611049,0.71338606911949],"aabb_xy":[[0.060561283107969946,-0.7455719922205672],[0.16056128039981232,-0.6457329049016425]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[0.1890013983192258,-0.9599428028785129,0.71338606911949],"aabb_xy":[[0.17585015234793644,-0.9849428026351996],[0.2021526442905152,-0.9349428031218265]]},{"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_12","position":[0.2634171007563504,-0.7878697768873171,0.71338606911949],"aabb_xy":[[0.2547191384656351,-0.7999947511947918],[0.2721150630470657,-0.7757448025798424]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[-0.23788735028096336,0.619447951602583,0.71338606911949],"aabb_xy":[[-0.2747378982179509,0.5819479507795493],[-0.20103680234397572,0.6569479524256168]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[0.3113749860030468,0.6844903524318626,0.71338606911949],"aabb_xy":[[0.3074611128076243,0.6757413370253058],[0.31528885919846933,0.6932393678384194]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.21531016719643992,-0.5298992517246548,0.71338606911949],"aabb_xy":[[-0.23889529066033477,-0.5948992539700867],[-0.19172504373254506,-0.4648992494792231]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[0.48162690332042213,0.9783733564970789,0.71338606911949],"aabb_xy":[[0.3916269039020512,0.9449978596528891],[0.571626902738793,1.0117488533412686]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.4305180751752492,-2.062943534304127,0.71338606911949],"aabb_xy":[[-0.4680180755234769,-2.07473492988521],[-0.3930180748270214,-2.051152138723043]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[0.23272899287622462,1.3658643225746454,0.71338606911949],"aabb_xy":[[0.2075081560163849,1.3406405717217584],[0.2579498297360642,1.391088073427532]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.12675998452218762,1.3236093662446535,0.71338606911949],"aabb_xy":[[0.12117831288805887,1.311109366426878],[0.13234165615631638,1.336109366062429]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.5489166095303799,-1.7751718411542687,0.71338606911949],"aabb_xy":[[0.5307107858691321,-1.7861972417362602],[0.5671224331916275,-1.7641464405722769]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[0.5500366352832715,-1.5329381635400858,0.71338606911949],"aabb_xy":[[0.5130025258552118,-1.5673153708737952],[0.5870707447113312,-1.4985609562063764]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.5000268305060798,-1.3930526799568368,0.71338606911949],"aabb_xy":[[-0.5640268296758497,-1.4398193670757995],[-0.4360268313363099,-1.3462859928378745]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[-0.34306626779650273,0.7936325181713344,0.71338606911949],"aabb_xy":[[-0.34796556010306623,0.7659555988687655],[-0.33816697548993924,0.8213094374739031]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[0.2019135025110732,-2.4130663662184437,0.71338606911949],"aabb_xy":[[0.12191350535149792,-2.4246139671762603],[0.2819134996706485,-2.4015187652606262]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_25","position":[-0.1970984378644281,-1.3768879475724687,0.71338606911949],"aabb_xy":[[-0.21459837129841147,-1.394387947492703],[-0.17959850443044473,-1.359387947652234]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_26","position":[0.6655138920652077,1.742728849995466,0.71338606911949],"aabb_xy":[[0.656711836756235,1.7349175238405368],[0.6743159473741804,1.750540176150395]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_27","position":[-0.20093232171395614,0.790434767878744,0.71338606911949],"aabb_xy":[[-0.21648809112422146,0.7748843346343369],[-0.1853765523036909,0.8059852011231513]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_28","position":[0.09225897840317632,0.8851348919662834,0.71338606911949],"aabb_xy":[[0.04228156153792272,0.8351348904770348],[0.14223639526842988,0.9351348934555319]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_29","position":[-0.5094723753618439,1.344757134962499,0.71338606911949],"aabb_xy":[[-0.559467386321296,1.2947571359269072],[-0.45947736440239195,1.3947571339980906]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_30","position":[0.413659760013493,-1.697462588254341,0.71338606911949],"aabb_xy":[[0.3536597591526801,-1.748889018260827],[0.4736597608743057,-1.6460361582478542]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_31","position":[-0.4198923278108389,0.3258535705705552,0.71338606911949],"aabb_xy":[[-0.4278156080495872,0.30335357033255184],[-0.4119690475720905,0.34835357080855855]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_32","position":[-0.3419473486082031,1.0054631495600623,0.71338606911949],"aabb_xy":[[-0.3919473499690903,0.9554852449846466],[-0.29194734724731586,1.0554410541354777]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_33","position":[0.21177156846596623,1.0313629560024355,0.71338606911949],"aabb_xy":[[0.19288718469745603,1.0124770312220828],[0.23065595223447644,1.0502488807827883]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_34","position":[0.08141159507602735,-2.1311343126442113,0.71338606911949],"aabb_xy":[[0.07412927869936367,-2.2211343162537194],[0.08869391145269098,-2.0411343090347014]]}],"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":0.6954297692440986,"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/970.png","name":"970"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/970.png","name":"970"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7122.png","name":"7122"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2999.png","name":"2999"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5279.png","name":"5279"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3857.png","name":"3857"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":738.3344320169763,"rotation_z_degrees":174.145131867937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007177333616493789,-0.013260557818952811,-0.018271471370672532]},{"name":"camera_2","offset_m":[0.018789091760665743,0.007923902789656549,0.005147976073517021]},{"name":"camera_3","offset_m":[0.016948390024638955,-0.015520324051777262,-0.01460974046638798]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001115145479460622,-0.0014363713046442604,0.0012363326469157256],"end_effector_yaw_offset_degrees":0.1669296733632082},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013209414108083606,0.0018187804159376648,0.0008445662419926622],"end_effector_yaw_offset_degrees":-0.6496016538316247},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019467996509433287,0.00120567125847096,0.0003476326013778187],"end_effector_yaw_offset_degrees":-0.9143710243642909}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003291921444848996,0.00432689149979086],"position_m":[0.2962708078555151,0.3697268914997909,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023019913974626563,-0.002520248341215656],"position_m":[0.2730019913974627,-0.3582202483412157,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002506160551839433,-0.0036525347740979475],"position_m":[0.34620616055183945,0.26144746522590206,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028408042346641607,-0.002309704922932565],"position_m":[0.31015919576533585,0.06099029507706743,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eb3bb082d9b2fc100521a01ca90e922dcfc5624702d17ecc749f9f34e21b1b4f","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_970/tex_ceiling_textures_3857/tex_floor_textures_5279/tex_table_textures_7122/tex_wall_textures_2999","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2151804928803636713,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2151804928803636713,"visual_seed":2151804928803636713,"scene_id":"lab_003","finished_at":"2026-09-04T18:57:27"} +{"episode_id":"ep_000067","started_at":"2026-09-04T18:57:32","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[0.08662698548281911,-1.6789963051311472,0.71338606911949],"aabb_xy":[[0.08021317183963415,-1.6854061253788153],[0.09304079912600403,-1.6725864848834786]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.1954306175133229,0.5552908247747861,0.71338606911949],"aabb_xy":[[-0.2754306161702089,0.5407859658505233],[-0.1154306188564369,0.5697956836990489]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[0.43524867043974935,-0.7334339086261956,0.71338606911949],"aabb_xy":[[0.38027494840341647,-0.7884339081904288],[0.49022239247608224,-0.6784339090619624]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[-0.10464122410337884,-0.5875916393993494,0.71338606911949],"aabb_xy":[[-0.11192354048004248,-0.6775916430088582],[-0.09735890772671517,-0.4975916357898403]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.1815267921337792,-1.6196223332357824,0.71338606911949],"aabb_xy":[[0.15287745977336292,-1.6482678925128582],[0.21017612449419537,-1.5909767739587066]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.35770458427202523,1.5804694625720885,0.71338606911949],"aabb_xy":[[0.35046081822577985,1.500469464368486],[0.3649483503182705,1.6604694607756907]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[0.6102237525819736,0.5645073155137439,0.71338606911949],"aabb_xy":[[0.5727237524763806,0.5576851536607628],[0.6477237526875665,0.571329477366725]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.3445551611591947,0.8682074180438515,0.71338606911949],"aabb_xy":[[-0.4245489847377529,0.7882074154510098],[-0.26456133758063644,0.9482074206366929]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.4073963044064328,0.862066358825238,0.71338606911949],"aabb_xy":[[0.3177092280983173,0.7720663585707872],[0.4970833807145482,0.9520663590796883]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.650299522116086,-0.1864606232569792,0.71338606911949],"aabb_xy":[[-0.6678778243050328,-0.20403511283108408],[-0.6327212199271391,-0.16888613368287428]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.4886180477883004,0.18629503217082544,0.71338606911949],"aabb_xy":[[0.4844821914556003,0.14879503272646843],[0.4927539041210007,0.22379503161518244]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.4184560949511189,-1.1016873594862262,0.71338606911949],"aabb_xy":[[0.36345609577452936,-1.1566770342611836],[0.47345609412770834,-1.0466976847112683]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.2558171628805912,-1.9717799283769968,0.71338606911949],"aabb_xy":[[0.24789388264184287,-1.9942799286150001],[0.26374044311933953,-1.9492799281389934]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.14634616185642635,0.5762507109215589,0.71338606911949],"aabb_xy":[[0.13830982715514148,0.5682125916171421],[0.15438249655771116,0.5842888302259757]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[0.656194790692491,0.6328830414351851,0.71338606911949],"aabb_xy":[[0.6361363790792508,0.6128179545260276],[0.6762532023057314,0.6529481283443427]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.04780643508507931,-1.7005345154882798,0.71338606911949],"aabb_xy":[[-0.05583270571570531,-1.7092860104656327],[-0.039780164454453315,-1.6917830205109274]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.39506660497757884,-2.23045389508846,0.71338606911949],"aabb_xy":[[0.3300666049432761,-2.277154571768787],[0.46006660501188157,-2.1837532184081323]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[0.2550962604426835,-0.8275124463957253,0.71338606911949],"aabb_xy":[[0.2051120247345063,-0.8775124452092209],[0.30508049615086075,-0.7775124475822297]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.08742270911511185,-2.2699487096032147,0.71338606911949],"aabb_xy":[[-0.12492270977969053,-2.285635767603436],[-0.04992270845053313,-2.2542616516029916]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[0.4392201786549432,1.0659293003998997,0.71338606911949],"aabb_xy":[[0.3752201764345362,1.0215562162746115],[0.5032201808753503,1.110302384525188]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[0.1847354560489456,0.9502854478628766,0.71338606911949],"aabb_xy":[[0.1759542289017094,0.9415057005743466],[0.19351668319618187,0.9590651951514069]]}],"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":0.6964347921515502,"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/2995.png","name":"2995"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2995.png","name":"2995"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/679.png","name":"679"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4623.png","name":"4623"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2158.png","name":"2158"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5999.png","name":"5999"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":803.872252967712,"rotation_z_degrees":334.3967402830391,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013018853465129463,-0.007317410670040991,0.016440868987638465]},{"name":"camera_2","offset_m":[0.018769502333105623,0.013486109446634923,0.008906578252263042]},{"name":"camera_3","offset_m":[0.011396326110216102,0.0015830750060475164,0.01688244536424931]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00030313978099746116,0.0010050782775979056,0.0004831059185014374],"end_effector_yaw_offset_degrees":-0.016676122512004676},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002838543659757363,0.0010671606602948003,0.0009128319453810064],"end_effector_yaw_offset_degrees":-0.13003765013245272},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000596840155953528,-0.00038731236741893936,-0.0004298942526038028],"end_effector_yaw_offset_degrees":-0.5798181508207019}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003927563392212442,-0.002135501928730059],"position_m":[0.2926724366077875,0.3632644980712699,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038077950110440044,-0.001963564402495276],"position_m":[0.274507795011044,-0.3576635644024953,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017210167708258126,-0.002782665741906557],"position_m":[0.3454210167708258,0.26231733425809345,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[2.4677736056289562e-05,0.0038604454301112865],"position_m":[0.3130246777360563,0.06716044543011128,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"66be0531ef18cbb3b218fed85326ab706a5b2b6a43ad28ff7d9edff5ae27e374","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0067.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2995/tex_ceiling_textures_5999/tex_floor_textures_2158/tex_table_textures_679/tex_wall_textures_4623","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1445775349424097263,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1445775349424097263,"visual_seed":1445775349424097263,"scene_id":"lab_003","finished_at":"2026-09-04T19:00:37"} +{"episode_id":"ep_000068","started_at":"2026-09-04T19:00:43","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[0.5180560672996568,-1.3068569741074492,0.71338606911949],"aabb_xy":[[0.49616631971071595,-1.3968569713966983],[0.5399458148885975,-1.2168569768182]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[0.12159581808785369,-0.6475224319645447,0.71338606911949],"aabb_xy":[[0.10899311895077725,-0.6601178281894102],[0.13419851722493015,-0.6349270357396792]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.5303611233615821,0.8878601794989764,0.71338606911949],"aabb_xy":[[0.5169145967275388,0.8743903278458853],[0.5438076499956255,0.9013300311520678]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[-0.0774788806729707,0.840121939584948,0.71338606911949],"aabb_xy":[[-0.14147887925954317,0.7931149761854392],[-0.013478882086398247,0.8871289029844567]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.49513016507872565,0.4105399112881143,0.71338606911949],"aabb_xy":[[0.42513016326998027,0.38918614252392697],[0.5651301668874711,0.4318936800523017]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[-0.10478222953873095,-0.23718345181750777,0.71338606911949],"aabb_xy":[[-0.19478222603960268,-0.283095094235966],[-0.014782233037859192,-0.19127180939904953]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[0.08416271450509505,-1.746906087037768,0.71338606911949],"aabb_xy":[[-0.005837282230515176,-1.8000895503550622],[0.17416271124070526,-1.6937226237204732]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.2468556446578053,1.095600664041458,0.71338606911949],"aabb_xy":[[0.2093556434730125,1.091182441345397],[0.2843556458425981,1.100018886737518]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[0.24943496188139003,-1.3055586762353732,0.71338606911949],"aabb_xy":[[0.18943496128537385,-1.3603711487805965],[0.3094349624774062,-1.2507462036901495]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.19570287016224813,-1.4812613867209359,0.71338606911949],"aabb_xy":[[-0.2313320260622079,-1.516894053477789],[-0.16007371426228842,-1.4456287199640832]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[-0.4458733036256999,-0.1969866283406545,0.71338606911949],"aabb_xy":[[-0.46051670917973275,-0.21164534799743875],[-0.4312298980716668,-0.1823279086838702]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.13444783730124787,1.5129215789653458,0.71338606911949],"aabb_xy":[[0.10013156012662994,1.4629215789921683],[0.1687641144758658,1.5629215789385238]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.5152072106884169,1.5105936061249001,0.71338606911949],"aabb_xy":[[-0.5295416358145804,1.4985333905703613],[-0.5008727855622535,1.522653821679439]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.6020070447412913,-2.204596092110928,0.71338606911949],"aabb_xy":[[0.5520296278760376,-2.2545960936001763],[0.6519844616065448,-2.1545960906216792]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[-0.16275055400648897,1.7143180312564996,0.71338606911949],"aabb_xy":[[-0.20025055467106762,1.6986309732562772],[-0.1252505533419102,1.7300050892567216]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[0.607594347635966,-0.15231479958509375,0.71338606911949],"aabb_xy":[[0.5725943477399471,-0.1606890350970337],[0.6425943475319849,-0.1439405640731538]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.549307065011159,1.0630620950425747,0.71338606911949],"aabb_xy":[[-0.5725889072092902,0.9780620937453465],[-0.5260252228130275,1.1480620963398025]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.32239144746117154,-0.8091977337348324,0.71338606911949],"aabb_xy":[[0.24239144718756458,-0.882147281560549],[0.40239144773477853,-0.7362481859091156]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[-0.1899485904085274,-0.9578384304765024,0.71338606911949],"aabb_xy":[[-0.19626068994486584,-0.9636053697297212],[-0.18363649087218897,-0.9520714912232836]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[-0.03209060519491391,-1.539713196469071,0.71338606911949],"aabb_xy":[[-0.04876774118800942,-1.5564131204430014],[-0.015413469201818408,-1.5230132724951408]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[0.5147711807985396,-0.41022688214242686,0.71338606911949],"aabb_xy":[[0.48977118152657734,-0.42657224573858915],[0.5397711800705018,-0.39388151854626446]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.47290565277231716,0.5214532133903127,0.71338606911949],"aabb_xy":[[-0.53449641199631,0.4574532152812659],[-0.4113148935483244,0.5854532114993597]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.01673926238665302,-2.1506530606048777,0.71338606911949],"aabb_xy":[[-0.024953807502336996,-2.159329650902518],[-0.008524717270969038,-2.1419764703072355]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.32647746475787676,-2.061884297140928,0.71338606911949],"aabb_xy":[[-0.41647746709189587,-2.1393666517260406],[-0.23647746242385775,-1.9844019425558153]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[-0.11587184483104573,-0.028191113020558767,0.71338606911949],"aabb_xy":[[-0.12465307197828197,-0.03697086030908893],[-0.10709061768380952,-0.019411365732028625]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.6087383721231898,-1.1286646481475842,0.71338606911949],"aabb_xy":[[-0.6160206884998533,-1.2186646517570927],[-0.6014560557465259,-1.0386646445380747]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[-0.4047516415799937,-1.2605848639076418,0.71338606911949],"aabb_xy":[[-0.4397516407728119,-1.2715519099053043],[-0.3697516423871754,-1.2496178179099788]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_27","position":[0.2313678602653515,0.809056474378111,0.71338606911949],"aabb_xy":[[0.1673678631532458,0.7600241045837003],[0.2953678573774572,0.8580888441725215]]},{"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_28","position":[-0.6747750847649607,-1.851112750415671,0.71338606911949],"aabb_xy":[[-0.6808697126530792,-1.8596821449673397],[-0.6686804568768425,-1.8425433558640023]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_29","position":[0.2999839560083297,-1.059880220296036,0.71338606911949],"aabb_xy":[[0.2631334080713421,-1.09738022111907],[0.33683450394531733,-1.0223802194730025]]}],"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":0.6942036649475213,"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/958.png","name":"958"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/958.png","name":"958"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8090.png","name":"8090"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6636.png","name":"6636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7363.png","name":"7363"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6281.png","name":"6281"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":750.334016995061,"rotation_z_degrees":244.01785638155263,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004785960848691418,0.005172023217156648,0.0055458599165978395]},{"name":"camera_2","offset_m":[0.004838333899997296,-0.019898924389716254,0.012273451796257027]},{"name":"camera_3","offset_m":[-0.003293978120334967,-0.00716347015131674,-0.0050222538427625585]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007436264088971848,-0.0017987415377275222,0.0011580614289093392],"end_effector_yaw_offset_degrees":-0.93034864512388},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009630880747457545,0.0011528238172201573,-0.0004879756658721535],"end_effector_yaw_offset_degrees":0.03535702347384162},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008630484698284964,-0.0018883746968822606,-0.0004432717626132439],"end_effector_yaw_offset_degrees":0.38252139629409077}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018977547571092292,0.00045479174380969566],"position_m":[0.2984977547571092,0.3658547917438097,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004840930558937767,0.004153678788349117],"position_m":[0.27554093055893775,-0.3515463212116509,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001238054284806023,0.00102598070588103],"position_m":[0.344938054284806,0.266125980705881,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004246987730009656,-0.004558789086685289],"position_m":[0.31257530122699906,0.058741210913314704,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6e0309c3e74c83023dd390161c03bd7cafaa0e522393248bfc83f5c4cb80afba","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_958/tex_ceiling_textures_6281/tex_floor_textures_7363/tex_table_textures_8090/tex_wall_textures_6636","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":3526068414589259676,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":3526068414589259676,"visual_seed":3526068414589259676,"scene_id":"lab_003","finished_at":"2026-09-04T19:03:49"} +{"episode_id":"ep_000069","started_at":"2026-09-04T19:03:53","dimensions":{"distractor":{"count":25,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[-0.014807559860026243,1.3006229997145144,0.71338606911949],"aabb_xy":[[-0.02488926693859972,1.2206230018223994],[-0.004725852781452766,1.3806229976066287]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[-0.5477451515658274,-2.5469056406748307,0.71338606911949],"aabb_xy":[[-0.5652918464819464,-2.5844056422390818],[-0.5301984566497085,-2.5094056391105797]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.5963528487841532,0.005846544476361348,0.71338606911949],"aabb_xy":[[0.5066657724760377,-0.08415345577808919],[0.6860399250922686,0.09584654473081189]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[0.49557296961248776,0.2053609119227069,0.71338606911949],"aabb_xy":[[0.49145701950041504,0.20124535688986137],[0.49968891972456037,0.20947646695555236]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[0.018359562410324104,-1.4607338326109447,0.71338606911949],"aabb_xy":[[-0.031640437950241955,-1.5107138198205474],[0.06835956277089016,-1.4107538454013415]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[0.2541249957560826,-1.376831726255426,0.71338606911949],"aabb_xy":[[0.18912499719900977,-1.4065842596693083],[0.31912499431315544,-1.347079192841543]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[0.3608643995315124,0.43127173582587197,0.71338606911949],"aabb_xy":[[0.35170452058763585,0.42474051778233496],[0.37002427847538905,0.437802953869409]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[-0.4353430897214423,-1.2975582633683915,0.71338606911949],"aabb_xy":[[-0.47284308982703527,-1.3043804252213727],[-0.39784308961584935,-1.2907361015154104]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.5519690529622472,-0.3762781288072392,0.71338606911949],"aabb_xy":[[0.5463873813281183,-0.3887781286250147],[0.5575507245963759,-0.3637781289894637]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[-0.19709354416843528,0.8954121732782934,0.71338606911949],"aabb_xy":[[-0.25709354401500206,0.8385935510852547],[-0.13709354432186846,0.952230795471332]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[0.09493914648599722,-2.5179455963749646,0.71338606911949],"aabb_xy":[[0.014939149326421916,-2.5294931973327817],[0.1749391436455725,-2.5063979954171476]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[0.25906651058243224,1.352603049817509,0.71338606911949],"aabb_xy":[[0.25463588122759206,1.3471546780828267],[0.2634971399372724,1.3580514215521917]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.40700533665247457,1.0503651318939662,0.71338606911949],"aabb_xy":[[-0.4178458148789894,1.0331788506033175],[-0.3961648584259596,1.0675514131846149]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[-0.5251713220823383,0.3537231935856364,0.71338606911949],"aabb_xy":[[-0.6051713231554586,0.343945147248252],[-0.44517132100921797,0.36350123992302086]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.23806201518288472,-0.6396508002806205,0.71338606911949],"aabb_xy":[[0.20056201523911835,-0.6479438903154571],[0.2755620151266511,-0.6313577102457839]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.10379271262550427,-0.07998578820920343,0.71338606911949],"aabb_xy":[[-0.1687927136260048,-0.13077215336387837],[-0.03879271162500375,-0.029199423054528495]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.5307486647795416,-1.9505652371264506,0.71338606911949],"aabb_xy":[[-0.559078374728082,-1.9550259793201676],[-0.5024189548310015,-1.9461044949327335]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.4958013437063351,0.5039528574112064,0.71338606911949],"aabb_xy":[[-0.5156923835866754,0.4912970461265097],[-0.4759103038259949,0.5166086686959034]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.36594482418663166,0.9154839349625266,0.71338606911949],"aabb_xy":[[0.301944822778641,0.8636949834386018],[0.4299448255946223,0.9672728864864513]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.08492223645417374,-1.6173207064659398,0.71338606911949],"aabb_xy":[[-0.12991482317262415,-1.6623207057403886],[-0.03992964973572331,-1.572320707191491]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.3819923613421161,1.7141379007754032,0.71338606911949],"aabb_xy":[[0.3594932256158891,1.6916378999971402],[0.40449149706834303,1.7366379015536662]]},{"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_21","position":[0.1306438378196617,-0.9003094319286284,0.71338606911949],"aabb_xy":[[0.094730333394672,-0.9362229401453831],[0.16655734224465138,-0.8643959237118738]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[-0.37487551964475585,0.23858484523232315,0.71338606911949],"aabb_xy":[[-0.4448755212470354,0.2251520520306656],[-0.3048755180424764,0.25201763843398073]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[0.16410867673706497,-1.513695035413575,0.71338606911949],"aabb_xy":[[0.12910867842636953,-1.5214100503371206],[0.19910867504776042,-1.5059800204900293]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[-0.2522211457646284,-1.0150408712990442,0.71338606911949],"aabb_xy":[[-0.3021038426423246,-1.065040870545319],[-0.2023384488869322,-0.9650408720527694]]}],"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":0.6921053413015343,"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/5125.png","name":"5125"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5125.png","name":"5125"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3625.png","name":"3625"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5739.png","name":"5739"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1007.png","name":"1007"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3821.png","name":"3821"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":532.3035411979358,"rotation_z_degrees":139.11856036443479,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000965099274006273,0.014209811786990132,0.01693835925581298]},{"name":"camera_2","offset_m":[-0.009530574523063837,0.004912228896287004,0.01940415317835432]},{"name":"camera_3","offset_m":[-0.008121209494711184,-0.002838920930240931,-0.0005419435440659898]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005178106330333482,-0.0015218780949321441,0.0017179434236470037],"end_effector_yaw_offset_degrees":0.8425854770711954},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018923424996605109,-0.00048734281135304875,0.001840248291675132],"end_effector_yaw_offset_degrees":-0.9933515332779068},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018455748786911771,0.00048277648279557465,-6.188577948984444e-05],"end_effector_yaw_offset_degrees":-0.8957208913813886}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002141317944336021,0.003717003733091106],"position_m":[0.29445868205566395,0.3691170037330911,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002077070654139236,0.0035960860060945494],"position_m":[0.27277707065413925,-0.35210391399390545,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008024597591278181,0.0005578009073637378],"position_m":[0.3445024597591278,0.26565780090736374,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003856387458470124,5.2574966165084246e-05],"position_m":[0.313385638745847,0.06335257496616507,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"085dc367c67d9578d818b94ac2d11f04b0485d695d0574b08ab1e0c3359cf9ae","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5125/tex_ceiling_textures_3821/tex_floor_textures_1007/tex_table_textures_3625/tex_wall_textures_5739","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2521570891012598061,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2521570891012598061,"visual_seed":2521570891012598061,"scene_id":"lab_003","finished_at":"2026-09-04T19:07:07"} +{"episode_id":"ep_000070","started_at":"2026-09-04T19:07:11","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.3162370435835131,-0.6558011346020063,0.71338606911949],"aabb_xy":[[-0.3337370438428498,-0.6698926767907789],[-0.29873704332417655,-0.6417095924132337]]},{"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_1","position":[0.3210700512924016,-0.6204550068154446,0.71338606911949],"aabb_xy":[[0.31237208900168634,-0.6325799811229195],[0.3297680135831169,-0.60833003250797]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[0.37204205995418005,-1.5092557710041172,0.71338606911949],"aabb_xy":[[0.3267634450730308,-1.573255770352301],[0.4173206748353293,-1.4452557716559336]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.058172151272134154,-2.4253906777308756,0.71338606911949],"aabb_xy":[[-0.06825385835070762,-2.50539067562299],[-0.048090444193560664,-2.3453906798387605]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[-0.20131796651561484,-0.7382729920899078,0.71338606911949],"aabb_xy":[[-0.2296476764641551,-0.7427337342836249],[-0.17298825656707464,-0.7338122498961908]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[-0.027700237599761035,1.581713335130695,0.71338606911949],"aabb_xy":[[-0.0576677945095867,1.5517133348328092],[0.0022673193100646305,1.6117133354285806]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.24105165976774479,-0.4963088041976209,0.71338606911949],"aabb_xy":[[-0.27605165966376355,-0.5046830397095607],[-0.20605165987172586,-0.4879345686856809]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.2810774742635567,1.3682701815347058,0.71338606911949],"aabb_xy":[[-0.33107747554739664,1.3182913271440833],[-0.23107747297971673,1.4182490359253275]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.29787157049833624,-2.1990345491482466,0.71338606911949],"aabb_xy":[[0.2565670274346002,-2.2630345487163637],[0.33917611356207217,-2.1350345495801295]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[-0.3336665564841164,1.1509867439108992,0.71338606911949],"aabb_xy":[[-0.36798283365873435,1.1009867439377212],[-0.2993502793094985,1.2009867438840767]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[-0.4023537974433257,0.9441695541549917,0.71338606911949],"aabb_xy":[[-0.41210978695249956,0.9344070200957572],[-0.3925978079341518,0.953932088214226]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.4630415760668384,0.39276963341165416,0.71338606911949],"aabb_xy":[[-0.5101709550686739,0.32876963236725215],[-0.41591219706500265,0.45676963445605606]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[0.11845260450344974,1.3680989058086181,0.71338606911949],"aabb_xy":[[0.08497343724240883,1.3346197924375114],[0.15193177176449071,1.4015780191797254]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[-0.49273154777680983,-2.1952630235890953,0.71338606911949],"aabb_xy":[[-0.5018914267206864,-2.201794241632632],[-0.48357166883293323,-2.1887318055455585]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[-0.26597971746637317,-2.311584364511554,0.71338606911949],"aabb_xy":[[-0.2713172931323778,-2.336584365440694],[-0.26064214180036865,-2.2865843635824143]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.25984266132184375,-1.8285065422493867,0.71338606911949],"aabb_xy":[[0.1958426610613729,-1.8735153416023147],[0.3238426615823145,-1.7834977428964587]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.25530189144150534,-0.5731467434471278,0.71338606911949],"aabb_xy":[[-0.27558619416490404,-0.5934293685898365],[-0.23501758871810655,-0.5528641183044188]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.11033540581135781,1.3187823341996814,0.71338606911949],"aabb_xy":[[-0.160335404457279,1.268862790540219],[-0.06033540716543663,1.3687018778591438]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.5317957606138792,-0.44498293001420164,0.71338606911949],"aabb_xy":[[0.5126834532559004,-0.46411770889144366],[0.5509080679718581,-0.4258481511369596]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.5070288998398658,-0.19941652620279937,0.71338606911949],"aabb_xy":[[0.4851202177005147,-0.22131719302289005],[0.5289375819792168,-0.17751585938270859]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[0.46615662377256917,-1.1553899526388667,0.71338606911949],"aabb_xy":[[0.4553836498512014,-1.1903899508579057],[0.47692959769393695,-1.1203899544198277]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[-0.06315445377133455,-0.7731988300532282,0.71338606911949],"aabb_xy":[[-0.11717005005323454,-0.8371988329454854],[-0.009138857489434535,-0.709198827160971]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[-0.39472703455521707,-2.504889225497642,0.71338606911949],"aabb_xy":[[-0.4192732501779678,-2.535138122046679],[-0.37018081893246635,-2.4746403289486048]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[0.4345117377734278,0.4097885692630938,0.71338606911949],"aabb_xy":[[0.34951173908135313,0.3778027058682149],[0.5195117364655024,0.4417744326579726]]}],"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":0.6892220280260732,"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/6447.png","name":"6447"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6447.png","name":"6447"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7981.png","name":"7981"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7615.png","name":"7615"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3172.png","name":"3172"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6927.png","name":"6927"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":702.3394953646962,"rotation_z_degrees":17.872256337330978,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006572371007686199,0.01966882329593705,0.012116575624285291]},{"name":"camera_2","offset_m":[-0.01293288437534121,-0.014806542279593762,0.007849478307276832]},{"name":"camera_3","offset_m":[0.011097182328157866,-0.0028846561247283763,0.0025465621236597964]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017991644090070934,0.0018121877674664114,0.001475945986802324],"end_effector_yaw_offset_degrees":-0.8346014667614916},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010833806812915311,0.0014785426936917223,-0.0016492692055268905],"end_effector_yaw_offset_degrees":-0.574888863027945},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004444488882809415,0.0008785004147375984,0.0002482097816948509],"end_effector_yaw_offset_degrees":0.36151945603306723}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002046254644999502,-0.003062120039619081],"position_m":[0.29455374535500045,0.3623378799603809,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019664151635331263,0.00243444497886144],"position_m":[0.26873358483646687,-0.3532655550211386,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003672386209915799,-6.66163634838934e-05],"position_m":[0.3400276137900842,0.26503338363651613,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00461078825083123,-0.002950220545139466],"position_m":[0.3083892117491688,0.06034977945486053,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c4bf1b38926f787de52507374b5cb7b0c7e3bf8a082676a41074d5ff7977221e","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6447/tex_ceiling_textures_6927/tex_floor_textures_3172/tex_table_textures_7981/tex_wall_textures_7615","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5834545928811848168,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5834545928811848168,"visual_seed":5834545928811848168,"scene_id":"lab_003","finished_at":"2026-09-04T19:10:20"} +{"episode_id":"ep_000071","started_at":"2026-09-04T19:10:24","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[-0.2954616245580419,0.2958256597510913,0.71338606911949],"aabb_xy":[[-0.33109078045800167,0.26019299299423837],[-0.2598324686580822,0.33145832650794427]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[-0.5018730512229849,-2.2389005956713945,0.71338606911949],"aabb_xy":[[-0.5119547583015582,-2.3189005935635087],[-0.4917913441444113,-2.1589005977792795]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.49188689261828134,0.27774866107318763,0.71338606911949],"aabb_xy":[[0.4574245452201395,0.2432547786753649],[0.526349240016423,0.31224254347101027]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.6459138001247557,0.8822098708216966,0.71338606911949],"aabb_xy":[[0.6394999864815707,0.8758000505740282],[0.6523276137679406,0.8886196910693649]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.28076434189694843,-2.479229322272456,0.71338606911949],"aabb_xy":[[0.2207643416455472,-2.5335106473089204],[0.34076434214834955,-2.4249479972359906]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[0.06439481286479354,0.7561001765033928,0.71338606911949],"aabb_xy":[[0.02689481220021483,0.7404131185031704],[0.10189481352937223,0.7717872345036147]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[0.06773408339121623,-0.6889345712470376,0.71338606911949],"aabb_xy":[[0.003734084804643767,-0.7359415346465463],[0.1317340819777887,-0.6419276078475289]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[0.10546065581806463,1.6538193044246028,0.71338606911949],"aabb_xy":[[0.02546065880381665,1.6336847527511915],[0.1854606528323126,1.673953856098014]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[-0.5021199043836124,0.8079078162873556,0.71338606911949],"aabb_xy":[[-0.5114669119659077,0.7936041940697117],[-0.4927728968013172,0.8222114385049998]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.6896241135807062,1.2991353672831352,0.71338606911949],"aabb_xy":[[0.6823417972040423,1.209135363673626],[0.6969064299573696,1.389135370892644]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.461726473038243,1.1842119292208952,0.71338606911949],"aabb_xy":[[-0.4842401648617002,1.1142119286198877],[-0.4392127812147858,1.2542119298219028]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.4093412923468669,1.6044817812099539,0.71338606911949],"aabb_xy":[[0.4020975263006216,1.5244817830063513],[0.4165850583931123,1.684481779413556]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[0.5016026277034265,-2.4913137854937157,0.71338606911949],"aabb_xy":[[0.4376026274429556,-2.5363225848466433],[0.5656026279638972,-2.4463049861407873]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[-0.6424523553951902,-2.294299765180562,0.71338606911949],"aabb_xy":[[-0.6902585230089586,-2.359299767887621],[-0.5946461877814213,-2.229299762473503]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.41410860184735665,0.6069278435444794,0.71338606911949],"aabb_xy":[[-0.4427579342077728,0.5782822842674035],[-0.38545926948694037,0.6355734028215551]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.6373689135448408,-0.31469246421450636,0.71338606911949],"aabb_xy":[[0.5573689102808278,-0.3282524965234197],[0.7173689168088541,-0.301132431905593]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.14073673908380868,-0.9175847309427152,0.71338606911949],"aabb_xy":[[-0.1636524519688586,-0.9404890280791388],[-0.11782102619875881,-0.8946804338062918]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[-0.42473017990250783,-0.5530947121348251,0.71338606911949],"aabb_xy":[[-0.4622301806945033,-0.5594625530930152],[-0.3872301791105124,-0.546726871176635]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.25372848477068544,-1.6527246163505418,0.71338606911949],"aabb_xy":[[0.1987352734335487,-1.7077246166893356],[0.3087216961078222,-1.5977246160117484]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.4469078646099709,0.4086419437456352,0.71338606911949],"aabb_xy":[[0.43869331949428686,0.3999653534479939],[0.4551224097256548,0.41731853404327646]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.2790136772474423,1.5886330457352504,0.71338606911949],"aabb_xy":[[-0.3284940984614011,1.5246330478223986],[-0.2295332560334835,1.6526330436481023]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.08978747571635626,-1.9185494596472294,0.71338606911949],"aabb_xy":[[-0.12027172584338641,-1.9685494594287252],[-0.0593032255893261,-1.8685494598657333]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.33606922453935,-0.31415616284921644,0.71338606911949],"aabb_xy":[[-0.3529799569756918,-0.3276283684418309],[-0.31915849210300823,-0.30068395725660185]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.1431876527359106,0.40408572216758953,0.71338606911949],"aabb_xy":[[-0.16068765201399748,0.3867476221012436],[-0.12568765345782373,0.4214238222339355]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_24","position":[-0.0007925049956795105,-2.3722632161942614,0.71338606911949],"aabb_xy":[[-0.006759043936415299,-2.3782243608536255],[0.005174033945056278,-2.3663020715348972]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_25","position":[-0.5790344804450485,-0.4851716006595339,0.71338606911949],"aabb_xy":[[-0.6040344797170107,-0.5015169642556963],[-0.5540344811730862,-0.46882623706337156]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[0.5392972744383002,-1.9933299449433082,0.71338606911949],"aabb_xy":[[0.5142972748865617,-2.003472428808443],[0.5642972739900387,-1.9831874610781735]]}],"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":0.6933029995207015,"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/9153.png","name":"9153"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9153.png","name":"9153"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3197.png","name":"3197"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5857.png","name":"5857"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6341.png","name":"6341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2163.png","name":"2163"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":714.4787655687925,"rotation_z_degrees":41.98006720001991,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0025457398424967963,0.017090591204740362,0.0022283334227682153]},{"name":"camera_2","offset_m":[0.0196429091357754,0.0144336963042485,0.019024193910631818]},{"name":"camera_3","offset_m":[-0.01735009747967304,-0.002711729886937478,0.002817728377417516]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[3.3737045096426856e-05,0.0011362917102468915,-0.0015877347998211732],"end_effector_yaw_offset_degrees":0.4748995087627741},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012026235637852137,-0.0001886436682456095,-0.00032253645912326567],"end_effector_yaw_offset_degrees":-0.8436941738314014},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006664838226430043,0.0015001069479455942,0.0003881004562771959],"end_effector_yaw_offset_degrees":0.7870084974154719}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004078426125225377,-0.0003077206661324834],"position_m":[0.30067842612522533,0.3650922793338675,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009246698853246889,-0.0006822575954649268],"position_m":[0.2716246698853247,-0.35638225759546494,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004932618380697716,0.002160571870253973],"position_m":[0.34419326183806975,0.267260571870254,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002062737827520731,-0.00046405486286103543],"position_m":[0.31320627378275206,0.06283594513713896,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ee33e7a1727afac1e7017d225bef6f76897bb18d269245e13bb6f40d172d0307","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9153/tex_ceiling_textures_2163/tex_floor_textures_6341/tex_table_textures_3197/tex_wall_textures_5857","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1374379691273195823,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1374379691273195823,"visual_seed":1374379691273195823,"scene_id":"lab_003","finished_at":"2026-09-04T19:13:41"} +{"episode_id":"ep_000072","started_at":"2026-09-04T19:13:45","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[0.3798913096108789,1.621899278655604,0.71338606911949],"aabb_xy":[[0.3455750324362609,1.5718992786824262],[0.4142075867854968,1.6718992786287816]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[-0.495478739181585,-1.4169114862244825,0.71338606911949],"aabb_xy":[[-0.5027399867519924,-1.429698496487992],[-0.48821749161117767,-1.404124475960973]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.08758572312594581,0.6523862906259756,0.71338606911949],"aabb_xy":[[-0.10508565655992919,0.6348862907057411],[-0.07008578969196244,0.6698862905462102]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.40509980892289604,1.5268475823847623,0.71338606911949],"aabb_xy":[[-0.49509980751736604,1.5105969960713415],[-0.31509981032842616,1.5430981686981835]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[-0.2535130471280113,0.4941688240896318,0.71338606911949],"aabb_xy":[[-0.31851304568508415,0.4644162906757492],[-0.18851304857093848,0.5239213575035144]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[-0.4043391435922864,0.0949404356589536,0.71338606911949],"aabb_xy":[[-0.4144208506708598,0.014940437766838927],[-0.39425743651371287,0.17494043355106823]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[-0.5049735155095568,1.419481895156601,0.71338606911949],"aabb_xy":[[-0.5125977835997352,1.4118486716200573],[-0.4973492474193787,1.4271151186931448]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[0.4169946925832517,-0.43226113547244216,0.71338606911949],"aabb_xy":[[0.3944955568570247,-0.4547611362507051],[0.43949382830947864,-0.40976113469417913]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.47301956211756924,-2.52352026423803,0.71338606911949],"aabb_xy":[[0.40901956500546355,-2.5725526340324407],[0.5370195592296749,-2.4744878944436195]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[-0.354808893914759,-1.4412442819281766,0.71338606911949],"aabb_xy":[[-0.39998021176292803,-1.5052442790727152],[-0.30963757606659004,-1.3772442847836381]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.0483940068360339,-2.100485865912677,0.71338606911949],"aabb_xy":[[-0.015605992458134328,-2.1644720062815312],[0.11239400613020212,-2.036499725543823]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[-0.3079859393254002,-1.8302126508746068,0.71338606911949],"aabb_xy":[[-0.31839749800588385,-1.835558384210505],[-0.2975743806449164,-1.8248669175387082]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.13416483835185777,-1.8296273405109913,0.71338606911949],"aabb_xy":[[-0.19916483945780106,-1.8545927135791196],[-0.06916483724591449,-1.804661967442863]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[0.45931842355506336,-0.9441659581178072,0.71338606911949],"aabb_xy":[[0.4394273836747232,-0.9568217694025044],[0.4792094634354037,-0.9315101468331107]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[-0.08708745800247275,0.9583936461088856,0.71338606911949],"aabb_xy":[[-0.16708128158103097,0.8783936435160441],[-0.00709363442391453,1.0383936487017271]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.19876281393587497,1.650167926868368,0.71338606911949],"aabb_xy":[[-0.2050749134722134,1.6444009876151495],[-0.19245071439953654,1.6559348661215874]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.6203728189743625,0.7631700963555592,0.71338606911949],"aabb_xy":[[-0.6803728198351752,0.7117436663490727],[-0.5603728181135496,0.8145965263620455]]},{"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_17","position":[0.18676986914719385,-1.7289426640917724,0.71338606911949],"aabb_xy":[[0.1806752412590755,-1.7375120586434412],[0.19286449703531214,-1.7203732695401037]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[0.6384677394029112,-1.2189186229896174,0.71338606911949],"aabb_xy":[[0.6160029694315061,-1.241418623868478],[0.6609325093743164,-1.196418622110757]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.6778656304039583,-1.33863481190764,0.71338606911949],"aabb_xy":[[0.6698393597733324,-1.3473863068849927],[0.6858919010345844,-1.3298833169302875]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.4262578860210251,1.3809280349938944,0.71338606911949],"aabb_xy":[[0.3834911791416049,1.316928031572092],[0.4690245929004453,1.4449280384156968]]},{"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_21","position":[0.6062023383162187,0.8326984374889586,0.71338606911949],"aabb_xy":[[0.5212023398987955,0.7478241420266737],[0.691202336733642,0.9175727329512436]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[0.6387418899939801,0.1461423935411723,0.71338606911949],"aabb_xy":[[0.6210662594053817,0.12846217726176953],[0.6564175205825784,0.16382260982057503]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[0.7140906001134575,-1.6008156408016947,0.71338606911949],"aabb_xy":[[0.7053766310635228,-1.623315641460883],[0.7228045691633918,-1.5783156401425065]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[-0.548682874054548,-0.9902738597850782,0.71338606911949],"aabb_xy":[[-0.5560953295959364,-0.9961250702067062],[-0.5412704185131595,-0.9844226493634503]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.3774296439116602,-1.0424657719350665,0.71338606911949],"aabb_xy":[[-0.4144637533397199,-1.076842979268776],[-0.34039553448360044,-1.008088564601357]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[-0.6490589188401917,0.4420133079798134,0.71338606911949],"aabb_xy":[[-0.6622898643748729,0.428785888957814],[-0.6358279733055103,0.45524072700181284]]}],"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":0.6913883188936322,"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/3639.png","name":"3639"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3639.png","name":"3639"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2427.png","name":"2427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8833.png","name":"8833"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2529.png","name":"2529"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1397.png","name":"1397"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":705.9426401409543,"rotation_z_degrees":298.3961506644759,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00450506331588795,0.012313282391204525,0.017966426167586518]},{"name":"camera_2","offset_m":[0.0023381341017989013,-0.015358063570633011,-0.00900578939510066]},{"name":"camera_3","offset_m":[-0.012718732616698852,0.005065991700373095,-0.017437587329983715]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010574040752200987,-0.0006513183034804651,0.0009148814412150851],"end_effector_yaw_offset_degrees":0.3130321918225727},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004901884136319658,0.000458874457553291,0.0018779385014199017],"end_effector_yaw_offset_degrees":-0.018760234421481226},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011636374032401309,0.00020239134682041538,-0.0007060368477435457],"end_effector_yaw_offset_degrees":0.7470978951732452}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004057912641274292,0.003578431025124884],"position_m":[0.3006579126412743,0.3689784310251249,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002367745418449362,-0.002437029185210735],"position_m":[0.26833225458155063,-0.35813702918521073,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0041887273283648645,-0.0034803381551916602],"position_m":[0.33951127267163517,0.26161966184480834,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003288278601217226,0.0012804918104062958],"position_m":[0.3097117213987828,0.06458049181040629,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f7836cacfc99cf3b0af26787e1ff8bb6e91ca4ef3b4ad80860797c2451670214","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3639/tex_ceiling_textures_1397/tex_floor_textures_2529/tex_table_textures_2427/tex_wall_textures_8833","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6960636002966628452,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6960636002966628452,"visual_seed":6960636002966628452,"scene_id":"lab_003","finished_at":"2026-09-04T19:16:50"} +{"episode_id":"ep_000073","started_at":"2026-09-04T19:16:54","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.20828201871937407,0.42128431712008263,0.71338606911949],"aabb_xy":[[-0.2432820186958699,0.411819701072466],[-0.17328201874287824,0.43074893316769924]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[0.6196743529463256,-0.7548736115697345,0.71338606911949],"aabb_xy":[[0.6142164073093055,-0.8348736148773936],[0.6251322985833456,-0.6748736082620754]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[0.4354598193259527,-0.4605561914472114,0.71338606911949],"aabb_xy":[[0.4125441064409029,-0.48346048858363494],[0.4583755322110027,-0.43765189431078794]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.3535399816186702,-1.0277028790998304,0.71338606911949],"aabb_xy":[[0.2895399851913483,-1.074872502921927],[0.41753997804599213,-0.9805332552777342]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[-0.4070787285624566,0.47338793189595885,0.71338606911949],"aabb_xy":[[-0.4322995654222962,0.4481641810430721],[-0.38185789170261686,0.4986116827488456]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[-0.30581055120088063,-0.17663309335594812,0.71338606911949],"aabb_xy":[[-0.32469493496939084,-0.19551901813630088],[-0.2869261674323704,-0.15774716857559531]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[0.002514800917370774,-1.1404449883578294,0.71338606911949],"aabb_xy":[[-0.05245892111896211,-1.1954449879220626],[0.05748852295370366,-1.0854449887935962]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.6066606430171884,-0.1795435280948081,0.71338606911949],"aabb_xy":[[0.5841958730457832,-0.20204352897366862],[0.6291254129885935,-0.1570435272159476]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[0.31036910703176424,-2.168788522014158,0.71338606911949],"aabb_xy":[[0.26039581302850373,-2.2187885225687047],[0.36034240103502463,-2.11878852145961]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[-0.44545628890078764,-2.1382638914525813,0.71338606911949],"aabb_xy":[[-0.45078880355540063,-2.143588219697817],[-0.44012377424617466,-2.1329395632073456]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[0.6371341120534664,-2.338527844666053,0.71338606911949],"aabb_xy":[[0.5731341087637581,-2.3818627636699707],[0.7011341153431744,-2.2951929256621355]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.3327826670254168,-1.8323263570529573,0.71338606911949],"aabb_xy":[[0.30163574818183364,-1.902326355739764],[0.36392958586899987,-1.7623263583661497]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.591703899335572,0.183481803970849,0.71338606911949],"aabb_xy":[[-0.6557038986297402,0.11949566360199479],[-0.5277039000414038,0.24746794433970318]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[-0.22747529708866698,-0.701505170243139,0.71338606911949],"aabb_xy":[[-0.24497523052265036,-0.7190051701633735],[-0.2099753636546836,-0.6840051703229044]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[-0.4003344575408797,-1.0110373980665603,0.71338606911949],"aabb_xy":[[-0.4453270442593301,-1.0560373973410089],[-0.3553418708224293,-0.9660373987921114]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[0.015326735921490586,1.0496189418374224,0.71338606911949],"aabb_xy":[[-0.0049575668019081745,1.0293363166947134],[0.03561103864488934,1.069901566980131]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[0.12154235233837185,-1.3796839753064005,0.71338606911949],"aabb_xy":[[0.07156493547311824,-1.429683976795649],[0.17151976920362538,-1.329683973817152]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[0.28178469226238156,-2.451619857091968,0.71338606911949],"aabb_xy":[[0.2017846952993424,-2.528695498735741],[0.36178468922542073,-2.374544215448194]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.263840042838138,-1.3516475166248882,0.71338606911949],"aabb_xy":[[-0.318832293473649,-1.4066475183682012],[-0.2088477922026271,-1.2966475148815757]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.1805704392648747,1.1128425019963935,0.71338606911949],"aabb_xy":[[0.15605681516786885,1.0885779086943568],[0.20508406336188056,1.1371070952984297]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.3604325047662662,-1.4791870996624472,0.71338606911949],"aabb_xy":[[0.33793336904003923,-1.50168710044071],[0.3829316404924932,-1.456687098884184]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.11338971130935682,-0.037105358873631644,0.71338606911949],"aabb_xy":[[-0.17838971134365955,-0.08380603555395894],[-0.04838971127505409,0.009595317806695647]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.6031597717555333,-2.166917598127699,0.71338606911949],"aabb_xy":[[-0.6135713304360169,-2.172263331463597],[-0.5927482130750494,-2.1615718647918003]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[-0.3922341726397661,-0.7160984255980882,0.71338606911949],"aabb_xy":[[-0.4160703902803713,-0.8060984264065749],[-0.3683979549991611,-0.6260984247896019]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_24","position":[0.5534914965150695,-2.046769770393097,0.71338606911949],"aabb_xy":[[0.5416194135035682,-2.1317697700867475],[0.5653635795265705,-1.9617697706994468]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[0.6893772440679957,1.5527865841987007,0.71338606911949],"aabb_xy":[[0.6813509734373697,1.5440350892213481],[0.6974035146986217,1.5615380791760534]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[-0.44718978473358506,-0.25639603828471413,0.71338606911949],"aabb_xy":[[-0.48096534392427803,-0.27043453349787916],[-0.4134142255428921,-0.2423575430715491]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[-0.5122553686116889,-1.2713562433316585,0.71338606911949],"aabb_xy":[[-0.5822553650216503,-1.2917941789833398],[-0.4422553722017268,-1.2509183076799764]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_28","position":[0.058361945089361655,0.8136285669983643,0.71338606911949],"aabb_xy":[[0.05032561038807681,0.8055904476939475],[0.0663982797906465,0.8216666863027811]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_29","position":[0.4544779516363775,1.1917969961184909,0.71338606911949],"aabb_xy":[[0.39047794929357593,1.1468561448743584],[0.5184779539791791,1.2367378473626234]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_30","position":[0.445468094363372,1.7416471948101466,0.71338606911949],"aabb_xy":[[0.44135214425129926,1.7375316397773006],[0.4495840444754446,1.7457627498429917]]}],"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":0.6952012264159357,"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/1711.png","name":"1711"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1711.png","name":"1711"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2095.png","name":"2095"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6785.png","name":"6785"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3813.png","name":"3813"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9615.png","name":"9615"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":791.0579575469733,"rotation_z_degrees":90.77502947672022,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014726108309515786,-0.01980870056339967,-0.010893876679458847]},{"name":"camera_2","offset_m":[-0.0113431005619826,0.008478865777677279,-0.011074208303054523]},{"name":"camera_3","offset_m":[-0.01427816068097814,-0.001365712268359305,0.006008354895870625]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012396633217488808,0.0002585896677109265,-0.0018215956716440295],"end_effector_yaw_offset_degrees":0.17358089692075396},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00011419035369135888,0.0005800694170315637,-0.0018355993864656037],"end_effector_yaw_offset_degrees":-0.04815603016055636},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015209560258865604,-0.0009271374148814614,-0.0013100149564765776],"end_effector_yaw_offset_degrees":0.6033039082126885}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0035459176136669168,0.001829518864853814],"position_m":[0.29305408238633307,0.36722951886485383,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025403922518982477,-0.001678900315408345],"position_m":[0.2732403922518982,-0.35737890031540837,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[6.016003210943845e-06,0.0005670896505339277],"position_m":[0.34370601600321093,0.2656670896505339,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025218452322123977,-0.0020447946523562523],"position_m":[0.3155218452322124,0.06125520534764374,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"78fbebdd55c976657f5f1935e3f592d8ddfd20adedf03426b83bb8e1676b3032","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0073.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1711/tex_ceiling_textures_9615/tex_floor_textures_3813/tex_table_textures_2095/tex_wall_textures_6785","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":19511442011984963,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":19511442011984963,"visual_seed":19511442011984963,"scene_id":"lab_003","finished_at":"2026-09-04T19:19:54"} +{"episode_id":"ep_000074","started_at":"2026-09-04T19:19:57","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.06006465551443574,-1.2192463390021273,0.71338606911949],"aabb_xy":[[6.465491841955995e-05,-1.274058811547351],[0.12006465611045192,-1.164433866456904]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.32655152852055336,-2.4058470744801546,0.71338606911949],"aabb_xy":[[-0.38155152672229814,-2.4463690411065917],[-0.27155153031880847,-2.3653251078537165]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[0.3735348932671705,-1.610439950079222,0.71338606911949],"aabb_xy":[[0.29353489586357706,-1.6904325212774045],[0.4535348906707639,-1.5304473788810389]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_3","position":[0.43419106723713763,-2.2075920946742245,0.71338606911949],"aabb_xy":[[0.37019106685960396,-2.2573373615250363],[0.4981910676146712,-2.1578468278234118]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.28750965189164307,-1.3044297440428299,0.71338606911949],"aabb_xy":[[-0.33748294589490346,-1.354429744597377],[-0.23753635788838257,-1.2544297434882823]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.3125918282359259,-1.9882503388550008,0.71338606911949],"aabb_xy":[[0.28930998603779456,-2.0732503401522284],[0.33587367043405725,-1.9032503375577725]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.171797621867806,-2.159337008186488,0.71338606911949],"aabb_xy":[[-0.1826492281166816,-2.1701962989141395],[-0.1609460156189304,-2.148477717458837]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.7106971274326921,-2.1810464319580025,0.71338606911949],"aabb_xy":[[0.6989289406380347,-2.266046431863224],[0.7224653142273497,-2.096046432052781]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.05963279299808544,1.5450879458703697,0.71338606911949],"aabb_xy":[[0.024632793805267172,1.5341208998727067],[0.0946327921909037,1.5560549918680318]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[0.033746327242743734,-1.3545364627514949,0.71338606911949],"aabb_xy":[[-0.031253670913175324,-1.380832707301407],[0.0987463253986628,-1.3282402182015827]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[0.6557141547410339,-2.498646451196944,0.71338606911949],"aabb_xy":[[0.6182141542436757,-2.5026151347450627],[0.6932141552383921,-2.4946777676488257]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[0.22027544383574515,-1.674789644986816,0.71338606911949],"aabb_xy":[[0.20272874891962622,-1.7122896465510673],[0.2378221387518641,-1.6372896434225648]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.6374403748888338,-1.3878104720240227,0.71338606911949],"aabb_xy":[[0.6231059497626703,-1.3998706875785616],[0.6517748000149972,-1.375750256469484]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.023612646728626396,0.8342957339931711,0.71338606911949],"aabb_xy":[[-0.0876126469890972,0.7892869346402431],[0.04038735353184441,0.8793045333460991]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.09395003971195293,1.2225952758581777,0.71338606911949],"aabb_xy":[[-0.17395004078507326,1.2128172295207933],[-0.013950038638832596,1.2323733221955622]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.330731069863059,-2.4209394820775665,0.71338606911949],"aabb_xy":[[0.2807481196755796,-2.4709394817201265],[0.3807140200505383,-2.3709394824350056]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[0.27521097123084637,1.168414909052847,0.71338606911949],"aabb_xy":[[0.2698784565762334,1.1630905808076115],[0.28054348588545935,1.1737392372980826]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.2954072579983266,0.6534429603667427,0.71338606911949],"aabb_xy":[[-0.30144427099899135,0.6474162592977946],[-0.2893702449976619,0.659469661435691]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[-0.3249027389100321,-1.0791465982854476,0.71338606911949],"aabb_xy":[[-0.3283434151500892,-1.083008031259812],[-0.32146206266997485,-1.075285165311083]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.4520860106541993,1.7458146836665027,0.71338606911949],"aabb_xy":[[0.4150519012261395,1.711437476332793],[0.48912012008225897,1.780191891000212]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.4658237943970926,1.429827180017663,0.71338606911949],"aabb_xy":[[-0.5458237913601318,1.352751538373889],[-0.3858237974340534,1.506902821661436]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.22568766739681578,0.7244657776953041,0.71338606911949],"aabb_xy":[[-0.24033107295084877,0.7098070580385196],[-0.2110442618427828,0.7391244973520881]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.001848558423751201,-2.5455491786222866,0.71338606911949],"aabb_xy":[[-0.01942686061269805,-2.5631236681963916],[0.015729743765195647,-2.5279746890481816]]},{"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_23","position":[-0.5333326689429224,-1.5426972865747268,0.71338606911949],"aabb_xy":[[-0.5512017766973779,-1.5565301945519376],[-0.5154635611884669,-1.528864378597516]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[-0.03114747577003718,-0.6174733056765893,0.71338606911949],"aabb_xy":[[-0.042716456516973755,-0.6424733057935211],[-0.019578495023100606,-0.5924733055596577]]},{"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_25","position":[-0.5051813155719744,0.9940180794072675,0.71338606911949],"aabb_xy":[[-0.5628117844592452,0.9340180804805568],[-0.44755084668470346,1.054018078333978]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_26","position":[-0.3507326036415552,0.8782569315987621,0.71338606911949],"aabb_xy":[[-0.3588462583149323,0.870151115144733],[-0.34261894896817807,0.8863627480527911]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_27","position":[0.6863876425993007,1.0962577776413305,0.71338606911949],"aabb_xy":[[0.6517965597452554,1.0312577773562992],[0.7209787254533458,1.1612577779263613]]},{"name":"lh_cell_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_28","position":[0.6072865935499834,-1.716332323857063,0.71338606911949],"aabb_xy":[[0.543286592846514,-1.7623507063299841],[0.6712865942534527,-1.6703139413841421]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_29","position":[0.5481527574349869,-0.1247990393451639,0.71338606911949],"aabb_xy":[[0.49867233622102813,-0.18879903725801572],[0.5976331786489457,-0.06079904143231207]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_30","position":[0.1259778734476441,-1.716390492113995,0.71338606911949],"aabb_xy":[[0.1172639043977096,-1.7388904927731827],[0.13469184249757857,-1.6938904914548063]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_31","position":[-0.5788717414844983,1.2008811240636552,0.71338606911949],"aabb_xy":[[-0.6339969471140889,1.1408811226223676],[-0.5237465358549074,1.260881125504942]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_32","position":[0.09347010271696121,1.7622714022697301,0.71338606911949],"aabb_xy":[[0.056619554779973616,1.7247714014466964],[0.13032065065394882,1.7997714030927638]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_33","position":[-0.40829070975343157,-0.39226395082104126,0.71338606911949],"aabb_xy":[[-0.4722907061807535,-0.43943357464313776],[-0.34429071332610967,-0.3450943269989449]]},{"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_34","position":[-0.18427401612139305,-1.366989603753345,0.71338606911949],"aabb_xy":[[-0.19297197841210836,-1.3791145780608198],[-0.17557605383067776,-1.3548646294458704]]}],"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":0.6974395165002478,"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/4416.png","name":"4416"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4416.png","name":"4416"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5993.png","name":"5993"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4069.png","name":"4069"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2391.png","name":"2391"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/733.png","name":"733"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":592.7077824501116,"rotation_z_degrees":238.7150780948933,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004829203777560496,0.013850778807559905,0.003505937508861901]},{"name":"camera_2","offset_m":[-0.018751539863685832,0.003418018396322834,0.013074331948613346]},{"name":"camera_3","offset_m":[-0.00476113750159843,0.016574414663278348,-0.01788493878486607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007356913876940974,-0.0014847960477179464,0.0019530272840409483],"end_effector_yaw_offset_degrees":0.6591071551580205},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006993239607334049,0.0007327606150362262,0.0004274532519252072],"end_effector_yaw_offset_degrees":0.9718463287835151},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003043397896537281,-0.0004941976160079777,0.0005973589761409021],"end_effector_yaw_offset_degrees":0.8209267311817146}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001231378896573463,0.002550682471789182],"position_m":[0.29783137889657346,0.3679506824717892,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035544507192140284,-0.004336618316227529],"position_m":[0.274254450719214,-0.3600366183162275,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004495347051387255,0.004682211188953868],"position_m":[0.34819534705138727,0.26978221118895385,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029673470396930383,-0.0027037222573694044],"position_m":[0.31596734703969304,0.06059627774263059,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c8a403dba60fd8bf4443bf232fbe94712eac30be1ff8e5ef21169f3bee9ced1d","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4416/tex_ceiling_textures_733/tex_floor_textures_2391/tex_table_textures_5993/tex_wall_textures_4069","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2112140282047829509,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2112140282047829509,"visual_seed":2112140282047829509,"scene_id":"lab_003","finished_at":"2026-09-04T19:23:07"} +{"episode_id":"ep_000075","started_at":"2026-09-04T19:23:11","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.18376433555091098,-0.5376571353540776,0.71338606911949],"aabb_xy":[[-0.20134263773985783,-0.5552316249281825],[-0.16618603336196414,-0.5200826457799727]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.5992541017138084,0.1257555672812254,0.71338606911949],"aabb_xy":[[-0.6065364180904719,0.03575556367171636],[-0.5919717853371446,0.21575557089073433]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[0.06689520470337562,0.8753326450673624,0.71338606911949],"aabb_xy":[[0.011899726882716219,0.8203326436334555],[0.121890682524035,0.9303326465012693]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[-0.511574396000144,-0.9581608989294128,0.71338606911949],"aabb_xy":[[-0.534039165971549,-0.9806608998082733],[-0.48910962602873875,-0.9356608980505523]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.5710253768833711,1.378245513071267,0.71338606911949],"aabb_xy":[[0.49102537890258596,1.3706439721094148],[0.651025374864156,1.3858470540331187]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.24199072024507562,1.0725260286564575,0.71338606911949],"aabb_xy":[[0.23042173949813904,1.0475260285395258],[0.2535597009920122,1.0975260287733892]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[0.6087908229326406,-1.967439046482999,0.71338606911949],"aabb_xy":[[0.600076853882706,-1.989939047142187],[0.617504791982575,-1.9449390458238105]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.1482204123015184,0.598322768315454,0.71338606911949],"aabb_xy":[[-0.2282142358800766,0.5183227657226124],[-0.06822658872296017,0.6783227709082955]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[-0.2955649376017052,-0.20904064461477123,0.71338606911949],"aabb_xy":[[-0.3009025132677098,-0.23404064554391102],[-0.29022736193570065,-0.18404064368563144]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.6580236160670372,1.7935921021904675,0.71338606911949],"aabb_xy":[[0.6524419444329083,1.7810921023726918],[0.6636052877011659,1.8060921020082428]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.19382226150775983,-1.3735465757804524,0.71338606911949],"aabb_xy":[[-0.24379532704027534,-1.4235465755929853],[-0.1438491959752444,-1.3235465759679195]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[-0.09488499693983243,-2.4094218501181333,0.71338606911949],"aabb_xy":[[-0.1409700881945639,-2.4734218473706884],[-0.048799905685100946,-2.345421852865578]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.05857681774522139,-1.519357623570027,0.71338606911949],"aabb_xy":[[-0.12357681885116469,-1.5443229966381553],[0.006423183360721882,-1.4943922505018987]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[-0.18298046525900924,-2.135021781803892,0.71338606911949],"aabb_xy":[[-0.1955831643960857,-2.1476171780287574],[-0.17037776612193278,-2.1224263855790264]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[-0.21625713648804012,0.41835392264842275,0.71338606911949],"aabb_xy":[[-0.2497363037490811,0.38487480927731577],[-0.1827779692269992,0.45183303601952973]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.6304869495374481,1.0328812012748219,0.71338606911949],"aabb_xy":[[-0.6804862247058843,0.9828811999988747],[-0.5804876743690119,1.082881202550769]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[0.5284941358419266,-0.01620270016742431,0.71338606911949],"aabb_xy":[[0.4644941365477584,-0.0801888405362785],[0.5924941351360948,0.04778344020142988]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.07433677505891623,-0.9737541355200316,0.71338606911949],"aabb_xy":[[-0.08610496185357376,-1.0587541354252534],[-0.06256858826425872,-0.8887541356148103]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.6312818995994678,-1.3129379764030848,0.71338606911949],"aabb_xy":[[0.5672819023138191,-1.3544446953559288],[0.6952818968851164,-1.2714312574502409]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[-0.4319922864646325,-2.071187664200576,0.71338606911949],"aabb_xy":[[-0.5019922885960619,-2.0939496298262705],[-0.3619922843332029,-2.0484256985748797]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.3734211005626238,1.5954124595153423,0.71338606911949],"aabb_xy":[[0.35753660729729864,1.5810595192165182],[0.38930559382794894,1.6097653998141663]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.46152432900708074,-2.535682187196954,0.71338606911949],"aabb_xy":[[0.4482933834723994,-2.548909606218953],[0.474755274541762,-2.522454768174954]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[0.4888230148343944,1.2496907691445625,0.71338606911949],"aabb_xy":[[0.4736601418574574,1.2345253118494437],[0.5039858878113316,1.2648562264396812]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.410826841982185,0.4876519602574345,0.71338606911949],"aabb_xy":[[0.3941497059890895,0.4709520362835042],[0.4275039779752805,0.5043518842313648]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[0.6678994113202308,-1.4665270921440263,0.71338606911949],"aabb_xy":[[0.6523436419099655,-1.4820775253884335],[0.683455180730496,-1.4509766588996191]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_25","position":[0.6622033748859941,-0.658322506654982,0.71338606911949],"aabb_xy":[[0.6265742189860344,-0.693955173411835],[0.6978325307859539,-0.6226898398981291]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_26","position":[0.3471157249363461,-2.038134471077521,0.71338606911949],"aabb_xy":[[0.28312002754124954,-2.1021344693782296],[0.4111114223314427,-1.9741344727768122]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[0.1994451138122314,1.6682832362483002,0.71338606911949],"aabb_xy":[[0.18936340673365787,1.5882832383561853],[0.20952682089080482,1.7482832341404146]]},{"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_28","position":[0.4284960866072769,-1.4670764292354546,0.71338606911949],"aabb_xy":[[0.34349608818985367,-1.5519507246977395],[0.5134960850247001,-1.3822021337731696]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_29","position":[0.6776638659078855,-2.1363711402621965,0.71338606911949],"aabb_xy":[[0.6426638645564037,-2.156730876219017],[0.7126638672593671,-2.1160114043053753]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_30","position":[0.10115487600213058,1.2504938168316642,0.71338606911949],"aabb_xy":[[0.08109646438889029,1.2304287299225067],[0.12121328761537087,1.2705589037408216]]}],"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":0.6906266354118278,"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/48.png","name":"48"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/48.png","name":"48"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7246.png","name":"7246"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8303.png","name":"8303"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5650.png","name":"5650"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7760.png","name":"7760"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":815.6189433357964,"rotation_z_degrees":284.939930341373,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019130668170303827,0.014559682068023948,0.016125523092296857]},{"name":"camera_2","offset_m":[-0.011998057374174543,-0.0013323868552665187,-0.007036011141060174]},{"name":"camera_3","offset_m":[0.0031529564734469953,0.016702243582078672,0.01760965501992302]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[9.666342212134556e-05,0.0004503835125599337,-0.001345275750719035],"end_effector_yaw_offset_degrees":-0.021965365049231966},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.590752911826261e-05,-0.0009567105915715929,0.0009546793171535052],"end_effector_yaw_offset_degrees":0.11037889231198972},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011245433748666338,0.0013498888967371022,0.0009711139907266249],"end_effector_yaw_offset_degrees":0.7263778929157678}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002158430832983195,0.001110004369325306],"position_m":[0.2944415691670168,0.3665100043693253,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017263018144239996,0.00010134048664678808],"position_m":[0.268973698185576,-0.35559865951335323,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002994337732337025,0.0033953155919381204],"position_m":[0.34669433773233704,0.2684953155919381,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025604304223949097,0.003217669542829556],"position_m":[0.3155604304223949,0.06651766954282955,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"17a8680327f978119c04a1c31c297986ed20016bdcb5bcb38d422094b48edae1","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_48/tex_ceiling_textures_7760/tex_floor_textures_5650/tex_table_textures_7246/tex_wall_textures_8303","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":3879248571881066164,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":3879248571881066164,"visual_seed":3879248571881066164,"scene_id":"lab_003","finished_at":"2026-09-04T19:25:48"} +{"episode_id":"ep_000076","started_at":"2026-09-04T19:25:51","dimensions":{"distractor":{"count":32,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[-0.32373376553385314,0.5203639065380075,0.71338606911949],"aabb_xy":[[-0.4037337687978662,0.506803874229094],[-0.24373376226983995,0.5339239388469207]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[-0.12675969325309688,-1.5476569019287716,0.71338606911949],"aabb_xy":[[-0.13139480840533024,-1.5515242370059201],[-0.12212457810086348,-1.5437895668516226]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.09012225816759534,1.2190663798484431,0.71338606911949],"aabb_xy":[[-0.09740457454425896,1.1290663762389337],[-0.08283994179093165,1.3090663834579517]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.1644123901382416,0.7662141847180992,0.71338606911949],"aabb_xy":[[0.14691239100387443,0.7563345576805114],[0.18191238927260878,0.776093811755687]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[0.10836715720415024,1.6831817659397852,0.71338606911949],"aabb_xy":[[0.044367157909982025,1.619195625570931],[0.17236715649831846,1.7471679063086394]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.4388305486788555,1.0313249887482794,0.71338606911949],"aabb_xy":[[0.40843243757971187,1.0009180867466096],[0.46922865977799905,1.0617318907499487]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[-0.3817973611513506,-1.2444053753082982,0.71338606911949],"aabb_xy":[[-0.3898336958526354,-1.2524434946127148],[-0.3737610264500657,-1.2363672560038812]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.04807780609383805,-1.4066967397898813,0.71338606911949],"aabb_xy":[[-0.12807162967239627,-1.4866967423827229],[0.03191601748472017,-1.3266967371970397]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.4034294260484648,0.2735701824015564,0.71338606911949],"aabb_xy":[[-0.43802050890251,0.2085701821165253],[-0.36883834319441955,0.3385701826865874]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[-0.3202911707625851,0.7485105981860274,0.71338606911949],"aabb_xy":[[-0.3842911729829921,0.7041375140607391],[-0.25629116854217804,0.7928836823113157]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.5004997354887412,1.7428809756744683,0.71338606911949],"aabb_xy":[[-0.5165616629472587,1.6578809738618763],[-0.48443780803022346,1.82788097748706]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[-0.2933985139910968,-0.6811945599396052,0.71338606911949],"aabb_xy":[[-0.3108985142361462,-0.6986943477791719],[-0.2758985137460474,-0.6636947721000382]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[0.5910104978336721,-1.216742629222278,0.71338606911949],"aabb_xy":[[0.5631654610530651,-1.2475271279605897],[0.6188555346142793,-1.1859581304839664]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.42973934153143867,-0.17521728452818142,0.71338606911949],"aabb_xy":[[-0.4937393417919095,-0.22022608388110942],[-0.36573934127096785,-0.1302084851752534]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.1376536688107547,1.322339397387755,0.71338606911949],"aabb_xy":[[0.11854136145277583,1.303204618510513],[0.15676597616873356,1.341474176264997]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[0.4191070659703946,-0.26719001968666056,0.71338606911949],"aabb_xy":[[0.3816070647856017,-0.271608242382721],[0.4566070671551873,-0.2627717969906]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[-0.238120497788325,0.280769612895702,0.71338606911949],"aabb_xy":[[-0.27312049605844485,0.2736954852007138],[-0.20312049951820504,0.2878437405906901]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.26043373988598767,1.2396985372654568,0.71338606911949],"aabb_xy":[[-0.2823234874749284,1.1496985399762076],[-0.23854399229704684,1.3296985345547059]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.5679720324585328,-0.08450421683796261,0.71338606911949],"aabb_xy":[[-0.5776036686789624,-0.09414152961767151],[-0.5583403962381032,-0.07486690405825368]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.07402606124834232,-1.1495239043282235,0.71338606911949],"aabb_xy":[[-0.0159739354872679,-1.2027073676455178],[0.16402605798395253,-1.0963404410109288]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.4861334403469172,0.6226011588203155,0.71338606911949],"aabb_xy":[[-0.5236334389225379,0.6098648631567575],[-0.4486334417712963,0.6353374544838734]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.20277402053999255,0.9340824615333445,0.71338606911949],"aabb_xy":[[-0.2372364985530803,0.9274187843504217],[-0.16831154252690475,0.9407461387162673]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[0.051206986471583504,-0.9046759550413312,0.71338606911949],"aabb_xy":[[0.0012069851106962929,-0.9546538596167468],[0.10120698783247073,-0.8546980504659155]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[0.4918777236368197,-0.9862097904006846,0.71338606911949],"aabb_xy":[[0.48000564062531864,-1.071209790094335],[0.5037498066483208,-0.9012097907070343]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[0.332830555165587,-2.489098822894847,0.71338606911949],"aabb_xy":[[0.31582045787553636,-2.5052333113931207],[0.34984065245563767,-2.472964334396573]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[-0.24454277900599147,-1.3447401140662785,0.71338606911949],"aabb_xy":[[-0.2574146825069316,-1.4247401144801144],[-0.23167087550505136,-1.264740113652442]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[-0.5501116055123201,-2.2882915970808035,0.71338606911949],"aabb_xy":[[-0.5736967289762149,-2.3532915993262353],[-0.5265264820484252,-2.2232915948353718]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[0.4088183814524309,-1.1896935572316811,0.71338606911949],"aabb_xy":[[0.391240079263484,-1.207268046805786],[0.42639668364137767,-1.1721190676575763]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_28","position":[-0.6250492233527751,-2.3023079166176132,0.71338606911949],"aabb_xy":[[-0.6343962309350705,-2.3166115388352573],[-0.61570221577048,-2.288004294399969]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_29","position":[-0.5890252096527024,-0.6569492435228235,0.71338606911949],"aabb_xy":[[-0.6490252112956242,-0.7089493928147677],[-0.5290252080097805,-0.6049490942308793]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_30","position":[0.07588865944388268,1.1978218586034441,0.71338606911949],"aabb_xy":[[0.06938702293587806,1.1880540365771344],[0.0823902959518873,1.207589680629754]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_31","position":[0.49901501759884237,-2.355901114814784,0.71338606911949],"aabb_xy":[[0.42901501546741283,-2.3786630804404796],[0.5690150197302719,-2.3331391491890887]]}],"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":0.6941268160479754,"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/5144.png","name":"5144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5144.png","name":"5144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7432.png","name":"7432"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3026.png","name":"3026"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6493.png","name":"6493"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9252.png","name":"9252"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":567.2445134181332,"rotation_z_degrees":86.58694581721296,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0023165483888230864,0.014051442873751274,-0.018968897497771007]},{"name":"camera_2","offset_m":[0.012247244228630123,0.00524511027022247,-0.003198596653307847]},{"name":"camera_3","offset_m":[-0.006636785743001129,-0.0018232476762354288,0.00926698564143057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012200937901935083,-0.0008435263067386898,-0.0008855061159870913],"end_effector_yaw_offset_degrees":-0.5584917949259747},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008810513945354797,0.0011529660592830477,-5.14749273174955e-05],"end_effector_yaw_offset_degrees":-0.8250832085181159},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000898193940517404,0.001539703380876202,-0.001830569068916675],"end_effector_yaw_offset_degrees":0.04144537450704}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032497858576961513,0.00422558783987918],"position_m":[0.29335021414230383,0.3696255878398792,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00487806439852194,0.004368718676729049],"position_m":[0.27557806439852195,-0.35133128132327096,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002256003220723273,0.0031776354917283653],"position_m":[0.3414439967792767,0.2682776354917284,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00040310075909572116,-0.0007512915417407871],"position_m":[0.3134031007590957,0.0625487084582592,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b5ae845779eb3b1231f61a0278d4229db33dbba0d36d6f59fa9998dbfa93ad49","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5144/tex_ceiling_textures_9252/tex_floor_textures_6493/tex_table_textures_7432/tex_wall_textures_3026","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5576262889360079926,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5576262889360079926,"visual_seed":5576262889360079926,"scene_id":"lab_003","finished_at":"2026-09-04T19:28:40"} +{"episode_id":"ep_000077","started_at":"2026-09-04T19:28:43","dimensions":{"distractor":{"count":34,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.3719821836762511,-1.1268994576625926,0.71338606911949],"aabb_xy":[[-0.45698218236832566,-1.1588853210574712],[-0.2869821849841764,-1.0949135942677135]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[-0.10232169311390282,1.4474992066468952,0.71338606911949],"aabb_xy":[[-0.12523740599895272,1.4245949095104717],[-0.07940598022885292,1.4704035037833187]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[-0.3023833333170775,-0.7398434003862648,0.71338606911949],"aabb_xy":[[-0.3451500401964977,-0.8038434038080672],[-0.2596166264376573,-0.6758433969644623]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.44397926259378784,-1.6189439569222688,0.71338606911949],"aabb_xy":[[-0.4500162755944526,-1.624970657991217],[-0.43794224959312317,-1.612917255853321]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[0.6995588463386535,1.7736930406937872,0.71338606911949],"aabb_xy":[[0.6770588465247511,1.7692184243233067],[0.7220588461525559,1.7781676570642682]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[-0.5996467390479308,-0.5712621325101495,0.71338606911949],"aabb_xy":[[-0.6371467405635625,-0.5824889055262944],[-0.562146737532299,-0.5600353594940043]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[-0.43508805604736944,1.201955431509552,0.71338606911949],"aabb_xy":[[-0.4850880577088642,1.151956989253849],[-0.3850880543858747,1.2519538737652545]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.4007731551214195,-2.0737954299146146,0.71338606911949],"aabb_xy":[[-0.4907731548445936,-2.096868782449794],[-0.31077315539824524,-2.0507220773794343]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[0.08547080860177436,-1.5514597514477348,0.71338606911949],"aabb_xy":[[0.06297080859162607,-1.5655559710873381],[0.10797080861192265,-1.5373635318081316]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[-0.08029685487000648,-0.019592190787041552,0.71338606911949],"aabb_xy":[[-0.08425733863974086,-0.027260055372562157],[-0.07633637110027211,-0.011924326201520955]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[0.302914816593264,-1.1504038980047553,0.71338606911949],"aabb_xy":[[0.25343439537930523,-1.2144038959176073],[0.3523952378072228,-1.0864039000919037]]},{"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_11","position":[-0.0052884697733748265,-0.7410553184878108,0.71338606911949],"aabb_xy":[[-0.014582088010525407,-0.7785553169759446],[0.004005148463775755,-0.7035553199996768]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.3255814252301965,-0.5780684443256896,0.71338606911949],"aabb_xy":[[-0.3336177599314813,-0.5861065636301064],[-0.3175450905289116,-0.5700303250212728]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[0.34743543963693635,-0.6440732859062852,0.71338606911949],"aabb_xy":[[0.2834354374165293,-0.6884463700315734],[0.4114354418573434,-0.5997002017809968]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[0.5395625499880317,1.203059021471094,0.71338606911949],"aabb_xy":[[0.5045625507952134,1.1920919754734314],[0.5745625491808499,1.2140260674687564]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.19927591757446317,-1.769027439774527,0.71338606911949],"aabb_xy":[[0.18837014148690043,-1.849027436173356],[0.21018169366202585,-1.6890274433756978]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.555574334605482,-0.02332335671477681,0.71338606911949],"aabb_xy":[[0.5385642373154312,-0.039457845213050735],[0.5725844318955325,-0.00718886821650289]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[-0.5185921530183459,-1.0332711242675634,0.71338606911949],"aabb_xy":[[-0.5318230985530271,-1.0464985432895626],[-0.5053612074836645,-1.0200437052455638]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[-0.4607608181595154,0.2388091003274928,0.71338606911949],"aabb_xy":[[-0.5407608192326356,0.22903105399010837],[-0.380760817086395,0.24858714666487725]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.11128534858881822,-0.946245842058445,0.71338606911949],"aabb_xy":[[-0.1412529054986439,-0.9762458423563307],[-0.08131779167899254,-0.9162458417605592]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.6904855813099731,1.0734380240841244,0.71338606911949],"aabb_xy":[[0.6870449050699159,1.06957659110976],[0.6939262575500302,1.077299457058489]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[-0.45370139699972956,-1.9395479683509702,0.71338606911949],"aabb_xy":[[-0.4712013961340967,-1.9494275953885578],[-0.43620139786536233,-1.9296683413133822]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[-0.268623890996314,-1.7602314774345573,0.71338606911949],"aabb_xy":[[-0.3236193688169734,-1.815231478868464],[-0.21362841317565462,-1.7052314760006502]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[0.6274163675370339,-1.4122579554015566,0.71338606911949],"aabb_xy":[[0.6173346604584603,-1.492257953293671],[0.6374980746156073,-1.3322579575094418]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[-0.1706568657725941,0.40701083346292943,0.71338606911949],"aabb_xy":[[-0.2356568667297213,0.35506262152922385],[-0.10565686481546689,0.458959045396635]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_25","position":[-0.1183510006438484,-0.2016093272530468,0.71338606911949],"aabb_xy":[[-0.12597526873402665,-0.20924255078959053],[-0.11072673255367017,-0.1939761037165031]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[-0.5930934736960921,0.8973242703063837,0.71338606911949],"aabb_xy":[[-0.6046624544430288,0.8723242701894521],[-0.5815244929491556,0.9223242704233156]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_27","position":[-0.3490127871063996,1.0078906733260498,0.71338606911949],"aabb_xy":[[-0.4130127903961077,0.964555754322132],[-0.2850127838166915,1.0512255923299672]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_28","position":[0.5627251916457503,-0.2907903090415882,0.71338606911949],"aabb_xy":[[0.551363456992464,-0.3021587754478762],[0.5740869262990363,-0.27942184263530007]]},{"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_29","position":[-0.3206502313701459,1.6293371555827707,0.71338606911949],"aabb_xy":[[-0.4056502297875692,1.5444628601204857],[-0.23565023295272275,1.7142114510450557]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_30","position":[0.5349184458469998,0.4298357094721341,0.71338606911949],"aabb_xy":[[0.44491844217008136,0.3684033028950297],[0.6249184495239177,0.49126811604923837]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_31","position":[-0.07907513247567266,1.2298054300391454,0.71338606911949],"aabb_xy":[[-0.08991561070218758,1.2126191487484967],[-0.06823465424915777,1.2469917113297941]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_32","position":[0.5830567468286432,-2.3589247410501573,0.71338606911949],"aabb_xy":[[0.5767446472923049,-2.364691680303376],[0.5893688463649817,-2.3531578017969386]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_33","position":[0.5168983207421138,0.15405466846848226,0.71338606911949],"aabb_xy":[[0.4793983209250803,0.1494164571573404],[0.5543983205591474,0.15869287977962412]]}],"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":0.6935710399962267,"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/452.png","name":"452"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/452.png","name":"452"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/880.png","name":"880"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3788.png","name":"3788"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9006.png","name":"9006"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4404.png","name":"4404"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":635.5074412637289,"rotation_z_degrees":139.9169131216173,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008849244851848894,0.004693519172342283,-0.00043483118088529296]},{"name":"camera_2","offset_m":[0.01188787682350759,0.011784497444520935,-0.0002900768090392837]},{"name":"camera_3","offset_m":[0.010343393011513661,-0.014590581484595608,0.014461476990068872]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016366683687518472,-0.000768189971200612,-0.0003467136905204837],"end_effector_yaw_offset_degrees":-0.08884327565604022},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017792151340414119,-0.000935173811503133,-0.0018785214175749809],"end_effector_yaw_offset_degrees":-0.30177339831176275},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010556344644736075,-0.0018197565882371704,0.0019054442080321306],"end_effector_yaw_offset_degrees":0.5547828671848238}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006562891346931889,-0.002477939698633239],"position_m":[0.29725628913469315,0.36292206030136676,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003914629386149578,0.0038264578542354386],"position_m":[0.27461462938614956,-0.35187354214576455,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014704557528668516,0.001892533838486918],"position_m":[0.34222954424713314,0.2669925338384869,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004606392105065346,-0.0005631395293824006],"position_m":[0.31253936078949346,0.06273686047061759,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b029c6b6c18eb4c37006653bcb82bc386684ccbd3a2418f69bac7442b4e0aec6","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_452/tex_ceiling_textures_4404/tex_floor_textures_9006/tex_table_textures_880/tex_wall_textures_3788","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":9185433130645669064,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":9185433130645669064,"visual_seed":9185433130645669064,"scene_id":"lab_003","finished_at":"2026-09-04T19:31:48"} +{"episode_id":"ep_000078","started_at":"2026-09-04T19:31:52","dimensions":{"distractor":{"count":22,"items":[{"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_0","position":[-0.4445928707592414,-0.5869445879584085,0.71338606911949],"aabb_xy":[[-0.4820928709311133,-0.6196453233413157],[-0.4070928705873694,-0.5542438525755014]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.3837446078922391,0.8457968449679716,0.71338606911949],"aabb_xy":[[0.29374460816906484,0.8227234924327916],[0.4737446076154132,0.8688701975031513]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[0.33043184102288303,-1.1844675055260225,0.71338606911949],"aabb_xy":[[0.2504318399497627,-1.194245551863407],[0.41043184209600336,-1.174689459188638]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.572744898582351,1.0778273106983791,0.71338606911949],"aabb_xy":[[-0.5894220345754464,1.0611273867244488],[-0.5560677625892554,1.0945272346723094]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[-0.23486339744067625,-0.5774594187782904,0.71338606911949],"aabb_xy":[[-0.24214571381733987,-0.6674594223877992],[-0.22758108106401256,-0.4874594151687813]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[0.2644811146075893,-2.228197084847074,0.71338606911949],"aabb_xy":[[0.2300187672094474,-2.2626909672448963],[0.29894346200573096,-2.193703202449251]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.4565548569690904,-0.7388348932463091,0.71338606911949],"aabb_xy":[[-0.5205548586470876,-0.7873522847256234],[-0.39255485529109296,-0.6903175017669949]]},{"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_7","position":[-0.23026402074287267,-1.3938653040336988,0.71338606911949],"aabb_xy":[[-0.2661775251678623,-1.4297788122504536],[-0.19435051631788294,-1.3579517958169445]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.3316800580361677,0.36602027555066297,0.71338606911949],"aabb_xy":[[-0.35418005755987503,0.3435243281000421],[-0.3091800585124602,0.38851622300128363]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[0.3268207695439347,-0.4777851177754808,0.71338606911949],"aabb_xy":[[0.3194083140025462,-0.48363632819710883],[0.33423322508532316,-0.47193390735385293]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[-0.09352807735226909,-2.277162778069084,0.71338606911949],"aabb_xy":[[-0.15752807374784217,-2.3411260664878175],[-0.029528080956696012,-2.2131994896503504]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.27128235108360055,-2.1592951124121265,0.71338606911949],"aabb_xy":[[-0.32127736204305263,-2.209295111447718],[-0.22128734012414858,-2.1092951133765347]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.5591332620530316,-0.33493405442000723,0.71338606911949],"aabb_xy":[[0.5430713345945138,-0.41993405623259905],[0.5751951895115491,-0.24993405260741544]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.5376015609803542,1.6153281588359483,0.71338606911949],"aabb_xy":[[-0.5463155300302883,1.5928281581767596],[-0.5288875919304193,1.637828159495136]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[0.010890080097731625,-1.7631191998439273,0.71338606911949],"aabb_xy":[[-0.011623611725725569,-1.8331192004449346],[0.03340377192118882,-1.6931191992429195]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.5121169242127687,-1.9390222697440551,0.71338606911949],"aabb_xy":[[-0.5671124020334279,-1.9940222711779618],[-0.45712144639210917,-1.884022268310148]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[0.16927606568242792,1.7768495783848857,0.71338606911949],"aabb_xy":[[0.10927606403950607,1.7248494290929415],[0.22927606732534977,1.8288497276768299]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[0.5936638936350369,-2.4732393959922927,0.71338606911949],"aabb_xy":[[0.5571680730077581,-2.5097233384190503],[0.6301597142623155,-2.436755453565535]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[-0.28934270219087727,-1.7742600278109157,0.71338606911949],"aabb_xy":[[-0.293420860097927,-1.7783410080591793],[-0.2852645442838275,-1.7701790475626527]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.42643315973176543,-2.21849182629542,0.71338606911949],"aabb_xy":[[0.4089331594724289,-2.232583368484193],[0.44393315999110217,-2.2044002841066477]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.5471699748607175,-2.1343662261835834,0.71338606911949],"aabb_xy":[[0.5096699733450858,-2.1455929991997285],[0.5846699763763492,-2.1231394531674384]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[-0.09553710858049946,-1.986715593321866,0.71338606911949],"aabb_xy":[[-0.11803710882401486,-1.9989202279816383],[-0.07303710833698407,-1.9745109586620944]]}],"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":0.6904779497942479,"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/4541.png","name":"4541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4541.png","name":"4541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1975.png","name":"1975"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1743.png","name":"1743"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9308.png","name":"9308"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/260.png","name":"260"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":633.658537834119,"rotation_z_degrees":117.84765713648532,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010506920104769744,-0.0038163486381458736,0.017784749848546968]},{"name":"camera_2","offset_m":[0.0067273709360245425,0.006035720134523689,0.018787638829924406]},{"name":"camera_3","offset_m":[-0.006095528525125276,0.00041967310319095813,-0.011378955194224645]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00017484143687321123,0.0015318478876855993,0.0005710103461813998],"end_effector_yaw_offset_degrees":-0.9916936559977434},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013092876184169384,-0.0009621665725936396,-0.001295629875349782],"end_effector_yaw_offset_degrees":0.6576588245324693},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010966912489992655,-0.0007039388588554365,-0.001567800635036122],"end_effector_yaw_offset_degrees":0.9880203409096178}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018773053503051674,0.00012687215438927837],"position_m":[0.2947226946496948,0.3655268721543893,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00017854301790069544,0.002981923945708175],"position_m":[0.2705214569820993,-0.35271807605429184,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026235886470740346,-0.003578572857886905],"position_m":[0.341076411352926,0.26152142714211307,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020413027784788795,0.001741442148525195],"position_m":[0.31504130277847886,0.0650414421485252,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9b14e1e3e0c9078f69aff9582c6cdd8a8858b58d1b29c7edc3ffcf7f25eac3db","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0078.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4541/tex_ceiling_textures_260/tex_floor_textures_9308/tex_table_textures_1975/tex_wall_textures_1743","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6627001316591437999,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6627001316591437999,"visual_seed":6627001316591437999,"scene_id":"lab_003","finished_at":"2026-09-04T19:35:01"} +{"episode_id":"ep_000079","started_at":"2026-09-04T19:35:05","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.39525890598932506,-2.4786808585417694,0.71338606911949],"aabb_xy":[[-0.4452589076508197,-2.5286793007974717],[-0.3452589043278302,-2.4286824162860663]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.29222988732270183,-1.2819549788598525,0.71338606911949],"aabb_xy":[[0.25976818644077426,-1.312087810974755],[0.3246915882046292,-1.2518221467449497]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.17580583393893034,0.09106001366392036,0.71338606911949],"aabb_xy":[[-0.19248296993202582,0.0743600896899901],[-0.1591286979458348,0.10775993763785065]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.2776099663233807,0.6056447638140097,0.71338606911949],"aabb_xy":[[-0.3327351719529714,0.5456447623727225],[-0.2224847606937899,0.6656447652552968]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[-0.5819553170407825,0.927151738831645,0.71338606911949],"aabb_xy":[[-0.6619553144443759,0.8471591676334622],[-0.5019553196371891,1.0071443100298278]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.2671533808197585,1.658821394458752,0.71338606911949],"aabb_xy":[[0.24465338100585615,1.6543467780882715],[0.2896533806336609,1.663296010829233]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.43811774896640987,-1.5408790179222234,0.71338606911949],"aabb_xy":[[0.3881347987789304,-1.5908790175647833],[0.4881006991538891,-1.4908790182796625]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[-0.3513987372877216,-1.5080893723683118,0.71338606911949],"aabb_xy":[[-0.358659984858129,-1.5208763826318217],[-0.34413748971731417,-1.4953023621048027]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.5064358783944978,-1.8615844681120768,0.71338606911949],"aabb_xy":[[0.4164358760604787,-1.9390668226971897],[0.5964358807285168,-1.7841021135269644]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[0.45027108097820934,1.5381690925087015,0.71338606911949],"aabb_xy":[[0.4456359658259759,1.5343017574315527],[0.45490619613044264,1.5420364275858502]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.1669009785869413,-0.16664800900046384,0.71338606911949],"aabb_xy":[[-0.22690097909479423,-0.22349474268638514],[-0.1069009780790884,-0.10980127531454255]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.18219483247223045,-0.9940243167401182,0.71338606911949],"aabb_xy":[[-0.24619482977457685,-1.038390743707975],[-0.11819483516988405,-0.9496578897722614]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.5771713715750475,0.21537239051821544,0.71338606911949],"aabb_xy":[[0.5690577169016704,0.20726657406418633],[0.5852850262484246,0.2234782069722445]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.6019302395017045,1.1829175937112137,0.71338606911949],"aabb_xy":[[-0.666930242139498,1.1314379950117668],[-0.5369302368639111,1.2343971924106607]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.4763027153451135,-2.3189550304475404,0.71338606911949],"aabb_xy":[[-0.5403027170231107,-2.367472421926854],[-0.41230271366711607,-2.2704376389682257]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[-0.40516840688997624,-0.27366134132225195,0.71338606911949],"aabb_xy":[[-0.4143282858338528,-0.2801925593657889],[-0.3960085279460996,-0.2671301232787149]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[0.6392204504588033,-2.413938726390645,0.71338606911949],"aabb_xy":[[0.5592204518714837,-2.4932543283288053],[0.7192204490461226,-2.3346231244524835]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[-0.21312059931549093,-0.5331405167717764,0.71338606911949],"aabb_xy":[[-0.23439860745896315,-0.5981405190978494],[-0.19184259117201866,-0.46814051444570326]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.667154164978979,-2.428156024684842,0.71338606911949],"aabb_xy":[[-0.6847324671679258,-2.445730514258947],[-0.6495758627900321,-2.410581535110737]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[0.4432406053380282,0.6455658185164124,0.71338606911949],"aabb_xy":[[0.3792406029952266,0.6006249672722798],[0.5072406076808297,0.6905066697605448]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.6017482865147996,0.3742649897929313,0.71338606911949],"aabb_xy":[[-0.6657482898045077,0.3309300707890137],[-0.5377482832250915,0.41759990879684894]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_21","position":[-0.026928805187236615,-1.6777240966038605,0.71338606911949],"aabb_xy":[[-0.0696955120666568,-1.741724100025663],[0.015837901692183576,-1.613724093182058]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[0.028807644279408406,-1.056176215368653,0.71338606911949],"aabb_xy":[[-0.008692357236223303,-1.0674029883847977],[0.06630764579504012,-1.0449494423525076]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[-0.24900495871333556,-1.753748441980089,0.71338606911949],"aabb_xy":[[-0.31900496031561504,-1.7671812351817464],[-0.17900495711105607,-1.7403156487784313]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[0.17715328512138362,-0.9267264435347737,0.71338606911949],"aabb_xy":[[0.16974082957999514,-0.9325776539564017],[0.1845657406627721,-0.9208752331131458]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[0.49544491120387324,1.234350572810777,0.71338606911949],"aabb_xy":[[0.43044491116957057,1.1876498961304498],[0.560444911238176,1.2810512494911044]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[0.5675672096086113,1.4678672656552885,0.71338606911949],"aabb_xy":[[0.5529238040545783,1.4532085459985038],[0.5822106151626443,1.4825259853120722]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[0.2647645655586002,1.7626723585901698,0.71338606911949],"aabb_xy":[[0.22976456724790473,1.754957343666624],[0.2997645638692956,1.7703873735137152]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_28","position":[-0.2755118920222398,1.1961895590352367,0.71338606911949],"aabb_xy":[[-0.2864176681098025,1.1161895626364076],[-0.2646061159346771,1.2761895554340659]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_29","position":[0.30441124033785616,-1.5607260909553582,0.71338606911949],"aabb_xy":[[0.2943295332592827,-1.6407260888474726],[0.31449294741642964,-1.4807260930632433]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_30","position":[-0.3559285500061821,-1.848380577581986,0.71338606911949],"aabb_xy":[[-0.4359285479869671,-1.8559821185438379],[-0.275928552025397,-1.840779036620134]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_31","position":[-0.44463091722041054,0.6696720669577969,0.71338606911949],"aabb_xy":[[-0.4821309156438109,0.6565078529899662],[-0.4071309187970102,0.6828362809256274]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_32","position":[-0.35332462484894206,-0.022448060126790903,0.71338606911949],"aabb_xy":[[-0.3758246253609826,-0.04493991849218926],[-0.3308246243369014,4.379823860745438e-05]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_33","position":[-0.5617626149546449,-1.360281632695157,0.71338606911949],"aabb_xy":[[-0.5671001906206494,-1.3852816336242968],[-0.5564250392886403,-1.3352816317660172]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_34","position":[0.22256540219373566,-2.4647682494399654,0.71338606911949],"aabb_xy":[[0.2074631007327175,-2.479869771071027],[0.2376677036547537,-2.449666727808903]]}],"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":0.6928219428861584,"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/2889.png","name":"2889"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2889.png","name":"2889"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/180.png","name":"180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6820.png","name":"6820"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7457.png","name":"7457"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4515.png","name":"4515"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":575.791135339909,"rotation_z_degrees":239.1505353918157,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00939491365937556,0.006299157169443122,-0.0034358034106813096]},{"name":"camera_2","offset_m":[-0.01428935570365093,-0.0007931961459442631,-0.014222902588690398]},{"name":"camera_3","offset_m":[-0.009420082449642,0.007352921045209383,-0.00044808953917985575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019096818777720945,-0.0002530426720749124,-0.00010996228650874871],"end_effector_yaw_offset_degrees":0.32688842415041686},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013196608179297025,0.0013245417204766487,0.0017241539220697005],"end_effector_yaw_offset_degrees":0.09393961988713073},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00048288881444991235,0.0019864492889941528,-3.5045420480831185e-05],"end_effector_yaw_offset_degrees":0.16543552926604632}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009117756302622739,-0.004432579291473673],"position_m":[0.29751177563026227,0.36096742070852633,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00043562075200930667,-0.0005624538780329251],"position_m":[0.2711356207520093,-0.35626245387803296,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0030079157249100863,-0.00010513374370818476],"position_m":[0.3406920842750899,0.2649948662562918,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002790543563511946,0.00042468506834385765],"position_m":[0.31579054356351194,0.06372468506834385,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"14d15ac332f06803fdc0b91a794dc94f72c95aeaeb34031aa4e29ea48fd0a62c","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2889/tex_ceiling_textures_4515/tex_floor_textures_7457/tex_table_textures_180/tex_wall_textures_6820","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1709828275839449920,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1709828275839449920,"visual_seed":1709828275839449920,"scene_id":"lab_003","finished_at":"2026-09-04T19:38:10"} +{"episode_id":"ep_000080","started_at":"2026-09-04T19:38:13","dimensions":{"distractor":{"count":29,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.33549956936709124,1.1459786879153162,0.71338606911949],"aabb_xy":[[0.25549957235284326,1.125844136241905],[0.4154995663813392,1.1661132395887275]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[-0.6253838351436579,0.21148296147089019,0.71338606911949],"aabb_xy":[[-0.6516726594640985,0.18521152781623892],[-0.5990950108232171,0.2377543951255414]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[0.14145583765446912,0.8301616456997922,0.71338606911949],"aabb_xy":[[0.1195660900655283,0.7401616484105431],[0.1633455852434099,0.9201616429890414]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[0.3748014610463426,-0.9606831255118211,0.71338606911949],"aabb_xy":[[0.31980598322568315,-1.0156831269457278],[0.42979693886700193,-0.9056831240779141]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.4225193145708439,-0.30578593321799064,0.71338606911949],"aabb_xy":[[0.38572468144593763,-0.3426918083145729],[0.4593139476957502,-0.26888005812140836]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[0.1547980709454403,-0.6374711196476794,0.71338606911949],"aabb_xy":[[0.11830225031816155,-0.673955062074437],[0.19129389157271903,-0.6009871772209219]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.3328900282667504,-1.2926208750129822,0.71338606911949],"aabb_xy":[[-0.35506255524340125,-1.3147965421691055],[-0.31071750129009956,-1.2704452078568589]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[-0.31097102212967254,-2.3967060372834883,0.71338606911949],"aabb_xy":[[-0.33548464622667845,-2.420970630585525],[-0.28645739803266673,-2.3724414439814523]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[-0.4631360095668221,1.0454052958082922,0.71338606911949],"aabb_xy":[[-0.47636695510150334,1.0321778767862926],[-0.44990506403214076,1.0586327148302914]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[-0.47840599419357976,0.5634685161628585,0.71338606911949],"aabb_xy":[[-0.5284059937699146,0.5134879372107527],[-0.4284059946172451,0.6134490951149646]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[-0.01682062184729416,1.1426001879214467,0.71338606911949],"aabb_xy":[[-0.05958732872671435,1.078600184499644],[0.02594608503212603,1.206600191343249]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.3490171405150104,0.9740950144035905,0.71338606911949],"aabb_xy":[[0.26901714311141695,0.8941024432054077],[0.4290171379186038,1.0540875856017733]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.3342499529080014,-2.524519903906491,0.71338606911949],"aabb_xy":[[0.254249951834881,-2.5342979502438756],[0.4142499539811217,-2.5147418575691067]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[-0.22624153432867206,0.2916705357063294,0.71338606911949],"aabb_xy":[[-0.25870323521059946,0.2615377035914267],[-0.19377983344674457,0.321803367821232]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[0.3459155285409834,1.3899003016852567,0.71338606911949],"aabb_xy":[[0.33863321216431963,1.2999002980757473],[0.35319784491764694,1.4799003052947652]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[0.5358597971122148,-1.2789517029369513,0.71338606911949],"aabb_xy":[[0.5298932581714789,-1.2849128475963152],[0.5418263360529504,-1.2729905582775873]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[0.30759845004208275,-2.221759258390991,0.71338606911949],"aabb_xy":[[0.2700984492500873,-2.228127099349181],[0.3450984508340782,-2.2153914174328007]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.41029003287149524,1.8089069531207849,0.71338606911949],"aabb_xy":[[-0.4183163035021212,1.8001554581434325],[-0.4022637622408692,1.8176584480981377]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[0.35589257348913095,-0.833565573117512,0.71338606911949],"aabb_xy":[[0.34505209526261604,-0.8507518544081607],[0.36673305171564585,-0.8163792918268631]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.1426600530837291,-0.8843503661031957,0.71338606911949],"aabb_xy":[[-0.19266005436756906,-0.9343292204938176],[-0.09266005179988913,-0.8343715117125734]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[-0.19584695546387132,0.6567481676136753,0.71338606911949],"aabb_xy":[[-0.24583119117204852,0.6067481688001797],[-0.14586271975569406,0.7067481664271709]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.3939834713721314,1.3009330092920122,0.71338606911949],"aabb_xy":[[-0.4164826070983584,1.278433008513749],[-0.37148433564590444,1.323433010070275]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[-0.118484701648777,-1.7758137890844998,0.71338606911949],"aabb_xy":[[-0.1559847028335698,-1.7802320117805603],[-0.0809847004639842,-1.7713955663884393]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[-0.4419086409288508,-2.0898236248331226,0.71338606911949],"aabb_xy":[[-0.4589187382189014,-2.105958113331396],[-0.4248985436388001,-2.073689136334848]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.2145547493781061,-0.38612288962273267,0.71338606911949],"aabb_xy":[[-0.22181599694851348,-0.39890989988624215],[-0.20729350180769865,-0.3733358793592232]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_25","position":[-0.6342934492899945,-2.14096863777894,0.71338606911949],"aabb_xy":[[-0.6794647671381636,-2.2049686349234783],[-0.5891221314418257,-2.0769686406344015]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[-0.4974865732351551,1.3302207578454581,0.71338606911949],"aabb_xy":[[-0.5039882097431597,1.3204529358191484],[-0.4909849367271505,1.339988579871768]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[-0.15525542995369446,1.707317124530427,0.71338606911949],"aabb_xy":[[-0.17275542908806163,1.6974374974928388],[-0.13775543081932728,1.7171967515680144]]},{"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_28","position":[-0.21593490306494462,-1.1978203054652345,0.71338606911949],"aabb_xy":[[-0.2246328653556599,-1.2099452797727093],[-0.20723694077422933,-1.1856953311577598]]}],"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":0.6866519416193242,"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/2545.png","name":"2545"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2545.png","name":"2545"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8417.png","name":"8417"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/726.png","name":"726"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9793.png","name":"9793"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9066.png","name":"9066"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":797.1790683158417,"rotation_z_degrees":116.93743549077868,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01685699514664561,-0.010621759482675849,0.0012247217162865247]},{"name":"camera_2","offset_m":[-0.0181785041372551,0.01871447242599719,0.004822594356246483]},{"name":"camera_3","offset_m":[-0.0014978116652790592,-0.0006690983473938601,-0.0038656481651132835]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[4.3576668282227764e-05,-0.00046251843389091417,-0.0005935676092146385],"end_effector_yaw_offset_degrees":-0.5981310004088147},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019265258159593167,4.290091429008831e-05,-0.0016376702032059277],"end_effector_yaw_offset_degrees":0.10556110377398609},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006381678005773553,-0.0006368796227317244,0.0008446487858273974],"end_effector_yaw_offset_degrees":0.11506008296927739}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0042889532954950346,0.003631046224606132],"position_m":[0.2923110467045049,0.36903104622460614,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004642578151879102,0.002966701434827245],"position_m":[0.26605742184812087,-0.35273329856517277,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017781471070896027,-0.001845835806744287],"position_m":[0.3419218528929104,0.2632541641932557,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004624312019503021,-8.938612525104597e-05],"position_m":[0.3125375687980497,0.06321061387474895,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cd3a500f415e045d3f37a0f811646aaf8edbcf0c82c06c8f68009f20e5db8594","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2545/tex_ceiling_textures_9066/tex_floor_textures_9793/tex_table_textures_8417/tex_wall_textures_726","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":40779115629364149,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":40779115629364149,"visual_seed":40779115629364149,"scene_id":"lab_003","finished_at":"2026-09-04T19:41:20"} +{"episode_id":"ep_000081","started_at":"2026-09-04T19:41:24","dimensions":{"distractor":{"count":23,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[0.058123225587176974,-2.025360348768344,0.71338606911949],"aabb_xy":[[0.04295105630554363,-2.040529205696547],[0.07329539486881032,-2.010191491840141]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[-0.5955701547560961,-0.37470370310004375,0.71338606911949],"aabb_xy":[[-0.685570153350566,-0.3909542894134648],[-0.5055701561616261,-0.3584531167866227]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.5666933930124495,-1.2759203657999971,0.71338606911949],"aabb_xy":[[-0.6034880261373557,-1.3128262408965794],[-0.5298987598875432,-1.2390144907034149]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.019756974428589036,-1.3760827911046962,0.71338606911949],"aabb_xy":[[-0.030242300739847124,-1.4260827923806436],[0.0697562495970252,-1.3260827898287493]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.36564147802252367,0.11786660156838069,0.71338606911949],"aabb_xy":[[-0.3782441771596001,0.1052712053435152],[-0.3530387788854472,0.1304619977932462]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.6241156707587452,-2.4588292742604962,0.71338606911949],"aabb_xy":[[0.6016156712350377,-2.481325221711116],[0.6466156702824525,-2.4363333268098746]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.5748330845161707,1.606334895168121,0.71338606911949],"aabb_xy":[[0.5373330840188125,1.6023662116200024],[0.612333085013529,1.6103035787162394]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[0.47269321642802087,1.410205700716396,0.71338606911949],"aabb_xy":[[0.42269321547748806,1.3786565537128743],[0.5226932173785537,1.4417548477199171]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[-0.05029202058531401,1.2090652414683563,0.71338606911949],"aabb_xy":[[-0.06344326655660337,1.1840652417116697],[-0.03714077461402465,1.2340652412250428]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[0.6563559536032382,-0.43569106023026816,0.71338606911949],"aabb_xy":[[0.6063771450929223,-0.485691060235987],[0.7063347621135541,-0.3856910602245494]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[0.6157294002068525,-1.514134666596632,0.71338606911949],"aabb_xy":[[0.5819538410161595,-1.528173161809797],[0.6495049593975455,-1.500096171383467]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[0.6265992561649589,0.6044870503254178,0.71338606911949],"aabb_xy":[[0.6146665218031309,0.5921048975175586],[0.638531990526787,0.6168692031332773]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[0.44585487033037485,1.7969056761296298,0.71338606911949],"aabb_xy":[[0.44241419409031774,1.7930442431552658],[0.4492955465704321,1.8007671091039947]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.33918106445012763,-1.5970061376350695,0.71338606911949],"aabb_xy":[[0.3248466393239642,-1.6090663531896083],[0.3535154895762911,-1.5849459220805306]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.053053733067285225,0.8113895499559556,0.71338606911949],"aabb_xy":[[0.04180867749666738,0.8001477522318603],[0.06429878863790306,0.8226313476800509]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[-0.498389330377515,-0.8057813871542903,0.71338606911949],"aabb_xy":[[-0.5208541003489201,-0.8282813880331508],[-0.47592456040610986,-0.7832813862754298]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[0.18908474937992237,-1.369930076672664,0.71338606911949],"aabb_xy":[[0.18180243300325868,-1.4599300802821726],[0.196367065756586,-1.2799300730631546]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[0.11218115453120303,-0.7437391218276648,0.71338606911949],"aabb_xy":[[0.04818545713610643,-0.8077391201283733],[0.17617685192629962,-0.679739123526956]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[0.043737805846443045,-0.9324815113652256,0.71338606911949],"aabb_xy":[[0.002488994816528318,-0.987481510877443],[0.08498661687635778,-0.877481511853008]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.3478970474112698,-1.557143488343422,0.71338606911949],"aabb_xy":[[-0.3853970480758484,-1.5728305463436443],[-0.310397046746691,-1.5414564303432]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_20","position":[-0.2068623048188662,0.7851286577586332,0.71338606911949],"aabb_xy":[[-0.28686230222245956,0.7051360865604503],[-0.12686230741527274,0.865121228956816]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.6197955714936574,0.31547815716092975,0.71338606911949],"aabb_xy":[[-0.6311573061469434,0.3041096907546416],[-0.6084338368403711,0.3268466235672178]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_22","position":[0.1993486317787877,1.2766684091400484,0.71338606911949],"aabb_xy":[[0.1493712149135341,1.2266684076507999],[0.2493260486440413,1.326668410629297]]}],"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":0.6967237818488478,"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/6630.png","name":"6630"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6630.png","name":"6630"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5780.png","name":"5780"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6896.png","name":"6896"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2883.png","name":"2883"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/708.png","name":"708"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":684.2473693627668,"rotation_z_degrees":180.90226892646766,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015246418318913667,-0.016658114517408763,-0.0030792985569631434]},{"name":"camera_2","offset_m":[-0.019827203351058312,0.011451468203339591,-0.0029655027045887294]},{"name":"camera_3","offset_m":[0.006277413203252414,0.004530529629142278,-0.013362843823188171]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002934275753311089,-0.000315820010448142,-0.0016427361567874495],"end_effector_yaw_offset_degrees":-0.5394629359918015},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009523668648254548,8.758379844605061e-05,-0.0015133579053077898],"end_effector_yaw_offset_degrees":0.7151705906213937},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012436900994622683,0.0008442076783183937,-0.001220076116502994],"end_effector_yaw_offset_degrees":-0.13676834443948716}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016524234255103467,0.004070585851681115],"position_m":[0.2949475765744896,0.36947058585168113,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003943887581329106,-0.0022988264303823005],"position_m":[0.2746438875813291,-0.35799882643038233,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037353511123233065,-0.003498041984963218],"position_m":[0.3399646488876767,0.2616019580150368,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005778171722803883,-0.0018904392519360712],"position_m":[0.3135778171722804,0.061409560748063925,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ba7a8237da632bdb409746dc29650fc5c6375ed0c9457a926dd5c02dd4f1c2b","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6630/tex_ceiling_textures_708/tex_floor_textures_2883/tex_table_textures_5780/tex_wall_textures_6896","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5613854604923051093,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5613854604923051093,"visual_seed":5613854604923051093,"scene_id":"lab_003","finished_at":"2026-09-04T19:44:36"} +{"episode_id":"ep_000082","started_at":"2026-09-04T19:44:40","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.5775437857201131,-2.1451262678792777,0.71338606911949],"aabb_xy":[[-0.5950437859651625,-2.1626260557188446],[-0.5600437854750637,-2.127626480039711]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[0.36189430805780964,-0.780674616321074,0.71338606911949],"aabb_xy":[[0.33861246585967825,-0.865674617618302],[0.38517615025594093,-0.6956746150238459]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[-0.6487629436790738,0.2929929485998488,0.71338606911949],"aabb_xy":[[-0.6909473578399047,0.2289929483226376],[-0.6065785295182432,0.35699294887706]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_3","position":[0.4326038832036243,0.9186896912356648,0.71338606911949],"aabb_xy":[[0.3776038840270348,0.8637000164607072],[0.4876038823802138,0.9736793660106224]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.0013622412931596495,-2.0183656337812734,0.71338606911949],"aabb_xy":[[-0.04852045558453656,-2.068365633027548],[0.05124493817085586,-1.9683656345349987]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.14064125408634642,1.3947457592216623,0.71338606911949],"aabb_xy":[[0.12353917612797827,1.3776389536903926],[0.15774333204471458,1.411852564752932]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[-0.3524063193768747,1.4081046614951482,0.71338606911949],"aabb_xy":[[-0.40238512788719055,1.3581046614894297],[-0.3024275108665588,1.4581046615008673]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[-0.35648784595772526,-0.7548626374768446,0.71338606911949],"aabb_xy":[[-0.37159014741874324,-0.7699641591079062],[-0.34138554449670705,-0.7397611158457825]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.22962268003701847,-0.1342226295332063,0.71338606911949],"aabb_xy":[[-0.29362267643259155,-0.19818591795193982],[-0.16562268364144536,-0.07025934111447271]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.6590424761632812,-1.6885086303565766,0.71338606911949],"aabb_xy":[[0.6265807752813536,-1.718641462471479],[0.6915041770452085,-1.6583757982416738]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[-0.23687321100134462,-0.4357486991149675,0.71338606911949],"aabb_xy":[[-0.2618732105530831,-0.44589118298010216],[-0.21187321144960614,-0.4256062152498327]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[0.13227042518880716,0.981313700338549,0.71338606911949],"aabb_xy":[[0.04227042151188897,0.9198812937614446],[0.2222704288657253,1.0427461069156534]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[-0.6850017985730703,1.1703507841911702,0.71338606911949],"aabb_xy":[[-0.6914156122162552,1.1639409639435017],[-0.6785879849298854,1.1767606044388383]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[-0.044777445301645846,1.030204817468955,0.71338606911949],"aabb_xy":[[-0.062277445560982476,1.0161132752801825],[-0.027277445042309223,1.0442963596577277]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[0.592019805935263,-0.46136015376745565,0.71338606911949],"aabb_xy":[[0.5420465119320025,-0.511360154322003],[0.6419930999385234,-0.41136015321290825]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[-0.2890548385053894,-1.2637650714648185,0.71338606911949],"aabb_xy":[[-0.3441800441349801,-1.3237650729061055],[-0.23392963287579857,-1.2037650700235312]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[-0.2503725584533179,-0.6675699993946258,0.71338606911949],"aabb_xy":[[-0.26553543143025504,-0.6827354566897446],[-0.23520968547638088,-0.652404542099507]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[-0.4447949066685845,0.6822058062415586,0.71338606911949],"aabb_xy":[[-0.5087949069290553,0.6371970068886306],[-0.38079490640811364,0.7272146055944866]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.07003853300799245,-0.5776769981047987,0.71338606911949],"aabb_xy":[[-0.08087901123450736,-0.5948632793954475],[-0.05919805478147755,-0.5604907168141499]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[0.5236680643638771,-2.4174984958913144,0.71338606911949],"aabb_xy":[[0.47653868536204136,-2.481498496935716],[0.5707974433657127,-2.353498494846912]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[0.14119214803259694,-2.230244785890577,0.71338606911949],"aabb_xy":[[0.09119214767203086,-2.2802247731001795],[0.19119214839316298,-2.1802647986809736]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[-0.6052499374843445,-0.5557064619627394,0.71338606911949],"aabb_xy":[[-0.669249937861878,-0.6054517288135517],[-0.5412499371068108,-0.5059611951119272]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[0.5966798468438448,0.19116515921610766,0.71338606911949],"aabb_xy":[[0.5927659736484223,0.18241614380955087],[0.6005937200392673,0.1999141746226644]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[0.706975138550413,-0.7415812538358824,0.71338606911949],"aabb_xy":[[0.6895444234714063,-0.758853368499733],[0.7244058536294193,-0.7243091391720313]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[-0.3118624468736454,-1.7445178295097805,0.71338606911949],"aabb_xy":[[-0.32936244615173227,-1.7618559295761262],[-0.2943624475955585,-1.7271797294434343]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[0.6558419956676325,0.7406629151150561,0.71338606911949],"aabb_xy":[[0.590841993029839,0.6891833164156091],[0.720841998305426,0.7921425138145031]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[-0.363084897842981,0.2107255173525422,0.71338606911949],"aabb_xy":[[-0.4005848979485739,0.20390335549956104],[-0.32558489773738797,0.2175476792055233]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_27","position":[-0.5630826393778037,1.2194210889469472,0.71338606911949],"aabb_xy":[[-0.5976737222318488,1.154421088661916],[-0.5284915565237583,1.284421089231978]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_28","position":[0.4835675417167451,1.1832566449740174,0.71338606911949],"aabb_xy":[[0.44677290859183877,1.1463507698774351],[0.5203621748416514,1.2201625200705997]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_29","position":[0.44006454617461,-0.8471547970198188,0.71338606911949],"aabb_xy":[[0.4296529874941263,-0.8525005303557172],[0.4504761048550937,-0.8418090636839202]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_30","position":[-0.5883463404824454,0.9493458888749848,0.71338606911949],"aabb_xy":[[-0.638443804463519,0.885345888365173],[-0.5382488765013718,1.0133458893847966]]}],"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":0.6920924121632759,"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/5813.png","name":"5813"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5813.png","name":"5813"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9211.png","name":"9211"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8782.png","name":"8782"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/357.png","name":"357"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1894.png","name":"1894"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":741.8617313996411,"rotation_z_degrees":40.95223156424656,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0009548035540889142,0.0034257280247364276,0.016419615742629293]},{"name":"camera_2","offset_m":[-0.019266860139625683,-0.016685012863738607,-0.005190713292431677]},{"name":"camera_3","offset_m":[0.0085153453491572,0.01701289191885751,0.011853404595926282]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00014441361328128006,0.0014240688295657482,-0.00036964340522898775],"end_effector_yaw_offset_degrees":0.5702568614419286},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001381145331438678,0.0011906984927960392,5.830479404561953e-05],"end_effector_yaw_offset_degrees":-0.46126143289309285},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015724380938470697,-0.0016529374295158454,0.00170745756835159],"end_effector_yaw_offset_degrees":-0.3324002133489772}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00014386275357760464,0.002447961686629292],"position_m":[0.2964561372464224,0.3678479616866293,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002729389093521507,-0.004388627456391783],"position_m":[0.2679706109064785,-0.3600886274563918,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00489966178848297,-0.002152988537250883],"position_m":[0.34859966178848295,0.2629470114627491,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004996986158546362,-0.001685313001111828],"position_m":[0.3080030138414536,0.06161468699888817,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"33c7c070888d792b6bb547656a903fe4d8c06075bcad6fafc541e37724ba7de6","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5813/tex_ceiling_textures_1894/tex_floor_textures_357/tex_table_textures_9211/tex_wall_textures_8782","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2610467079603070911,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2610467079603070911,"visual_seed":2610467079603070911,"scene_id":"lab_003","finished_at":"2026-09-04T19:47:50"} +{"episode_id":"ep_000083","started_at":"2026-09-04T19:47:54","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[-0.5435979246916725,-2.529477273898604,0.71338606911949],"aabb_xy":[[-0.5660943461255364,-2.5519772737053517],[-0.5211015032578082,-2.5069772740918568]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.5933708485372344,-0.5180784301404495,0.71338606911949],"aabb_xy":[[0.5892548984251617,-0.522193985173295],[0.597486798649307,-0.5139628751076039]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[-0.21837306259244288,-2.4981815238336527,0.71338606911949],"aabb_xy":[[-0.2683730638762828,-2.5481603782242743],[-0.1683730613086029,-2.44820266944303]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[-0.3477828287408604,-0.23664334840817247,0.71338606911949],"aabb_xy":[[-0.37818093984000395,-0.2670502504098419],[-0.3173847176417168,-0.20623644640650293]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.5625787165693075,-2.09116777390317,0.71338606911949],"aabb_xy":[[-0.5690803530773122,-2.1009355959294798],[-0.556077080061303,-2.08139995187686]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[-0.5434446728141951,0.08133301239406743,0.71338606911949],"aabb_xy":[[-0.5934177383467106,0.03133301258153454],[-0.4934716072816797,0.13133301220660035]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[-0.29089430398274313,-1.4803944815216792,0.71338606911949],"aabb_xy":[[-0.38089430370591726,-1.503467834056859],[-0.20089430425956892,-1.4573211289864993]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[-0.21901816581980327,-0.5357401033320275,0.71338606911949],"aabb_xy":[[-0.2840181643768761,-0.5654926367459101],[-0.15401816726273043,-0.5059875699181449]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.12160475233244561,-0.827611550931469,0.71338606911949],"aabb_xy":[[0.11790149100330675,-0.8313135692401867],[0.12530801366158448,-0.823909532622751]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.243700961405786,-1.5346449396009056,0.71338606911949],"aabb_xy":[[0.21585592462517889,-1.5654294383392175],[0.27154599818639313,-1.5038604408625942]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.670816224350266,-1.684232508626546,0.71338606911949],"aabb_xy":[[0.6533162241052165,-1.7017322964661128],[0.6883162245953153,-1.666732720786979]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.14154500232025757,-1.9806985992796775,0.71338606911949],"aabb_xy":[[0.051545002901886655,-2.014074096123867],[0.23154500173862844,-1.947323102435488]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.05658469705037106,1.2102423992118938,0.71338606911949],"aabb_xy":[[-0.10658469806950635,1.173776183474066],[-0.0065846960312357875,1.246708614949722]]},{"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_13","position":[-0.05389068835877919,0.9050351783406274,0.71338606911949],"aabb_xy":[[-0.07175979611323469,0.8912022703634165],[-0.0360215806043237,0.9188680863178383]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[-0.2895580859583886,-2.020314729904961,0.71338606911949],"aabb_xy":[[-0.3024299894593287,-2.1003147303187966],[-0.2766861824574484,-1.9403147294911245]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[-0.6554501670480023,-2.2252572429272393,0.71338606911949],"aabb_xy":[[-0.672950167307339,-2.2393487851160123],[-0.6379501667886658,-2.211165700738467]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.26170972546351695,1.3603465014122995,0.71338606911949],"aabb_xy":[[-0.3417097259337329,1.3520357937979515],[-0.181709724993301,1.368657209026648]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.5852567873504531,-0.736866909874571,0.71338606911949],"aabb_xy":[[-0.6304281051986221,-0.8008669070191097],[-0.5400854695022842,-0.6728669127300327]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.5880031319112721,-1.0328334131254175,0.71338606911949],"aabb_xy":[[-0.5976347681317017,-1.0424707259051265],[-0.5783714956908425,-1.0231961003457086]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.04465597301627788,0.7723982354896544,0.71338606911949],"aabb_xy":[[0.026980342427679545,0.7547180192102516],[0.06233160360487621,0.7900784517690571]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.04114115558150899,1.3701868130214292,0.71338606911949],"aabb_xy":[[0.02558538617124373,1.354636379777022],[0.05669692499177426,1.3857372462658364]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.5352470999173853,-0.5114449180749903,0.71338606911949],"aabb_xy":[[0.5236781191704487,-0.536444918191922],[0.5468160806643219,-0.48644491795805855]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[0.36302802227693376,0.8081370985054201,0.71338606911949],"aabb_xy":[[0.28302802368961427,0.7288214965672591],[0.44302802086425314,0.8874527004435809]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[0.07601378291622607,1.5259992155885729,0.71338606911949],"aabb_xy":[[0.064081048554398,1.5136170627807135],[0.08794651727805414,1.5383813683964322]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[0.21565907259675676,1.1180773271005209,0.71338606911949],"aabb_xy":[[0.210077400962628,1.1055773272827452],[0.22124074423088552,1.1305773269182962]]}],"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":0.6898549387236631,"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/5539.png","name":"5539"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5539.png","name":"5539"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7073.png","name":"7073"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7089.png","name":"7089"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9773.png","name":"9773"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2960.png","name":"2960"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":817.444907985755,"rotation_z_degrees":14.380482700776112,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014015906960279625,0.015066232565372002,0.004722406934656927]},{"name":"camera_2","offset_m":[-0.012358205492939867,-0.0011853482679419838,-0.013874552498663806]},{"name":"camera_3","offset_m":[-0.018061341984160366,0.0014735136597487132,-0.011798588668873275]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012845878560294485,0.001286769948685063,-0.0013391580297236936],"end_effector_yaw_offset_degrees":0.5267904305404103},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00034271979540116877,0.0016604883006040398,-0.0006668956555441875],"end_effector_yaw_offset_degrees":0.6395002311446847},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005544641733085851,0.0004768266359970281,-0.0012442813358569068],"end_effector_yaw_offset_degrees":0.5975206295774331}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003399263851431962,0.002499130119684694],"position_m":[0.293200736148568,0.36789913011968467,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001213377814441593,0.002461374963733092],"position_m":[0.2694866221855584,-0.3532386250362669,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002578646830188956,0.002168941436183446],"position_m":[0.34627864683018894,0.26726894143618346,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004461319195620895,-0.003200943477022199],"position_m":[0.30853868080437913,0.0600990565229778,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"827f7bcf8af4d1d6c72cc76f58ba36d3b38f7f4c73c0a6f29acb84349bb16e87","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5539/tex_ceiling_textures_2960/tex_floor_textures_9773/tex_table_textures_7073/tex_wall_textures_7089","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1172673015925197759,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1172673015925197759,"visual_seed":1172673015925197759,"scene_id":"lab_003","finished_at":"2026-09-04T19:50:59"} +{"episode_id":"ep_000084","started_at":"2026-09-04T19:51:02","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.2786678907589144,-2.110756605298415,0.71338606911949],"aabb_xy":[[0.2619907547658189,-2.1274565292723455],[0.2953450267520099,-2.094056681324485]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.026532245626508355,-1.8902628714833036,0.71338606911949],"aabb_xy":[[-0.06783678869024434,-1.9542628710514207],[0.014772297437227633,-1.8262628719151865]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.139255903363517,1.4974669453434566,0.71338606911949],"aabb_xy":[[-0.14736955803689408,1.4893611288894273],[-0.13114224869013988,1.5055727617974854]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.22889112670436884,1.0781922136331912,0.71338606911949],"aabb_xy":[[0.13889112302745063,1.0167598070560864],[0.31889113038128697,1.139624620210295]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.3667764077424215,0.916872347116557,0.71338606911949],"aabb_xy":[[-0.430772105137518,0.8528723488158482],[-0.30278071034732484,0.9808723454172655]]},{"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_5","position":[-0.1373150684427129,0.10155884521639313,0.71338606911949],"aabb_xy":[[-0.14340969633083125,0.0929894506647244],[-0.13122044055459461,0.11012823976806184]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[0.4799512513106381,-0.6247046352821504,0.71338606911949],"aabb_xy":[[0.39995125023751776,-0.6344826816195348],[0.5599512523837584,-0.6149265889447659]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[-0.3272149657154878,0.1760167141827469,0.71338606911949],"aabb_xy":[[-0.33524123634611386,0.16726521920539428],[-0.31918869508486186,0.1847682091600995]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.027012337504450312,1.2389440440726633,0.71338606911949],"aabb_xy":[[-0.07689503438214651,1.1889440448263886],[0.022870359373245896,1.288944043318938]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[-0.18203869785460858,0.2832276722838767,0.71338606911949],"aabb_xy":[[-0.20024452151585626,0.27220227170188505],[-0.1638328741933609,0.2942530728658683]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.5237952454763147,0.7450108270260056,0.71338606911949],"aabb_xy":[[-0.5412259605553211,0.7277387123621547],[-0.5063645303973081,0.7622829416898563]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.6936962913148903,-1.9404132641935958,0.71338606911949],"aabb_xy":[[0.6866559813813533,-2.0204132635932677],[0.7007366012484273,-1.8604132647939247]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[-0.41522420207341015,-1.5129111186790076,0.71338606911949],"aabb_xy":[[-0.44968668008649787,-1.5195747958619306],[-0.3807617240603223,-1.5062474414960847]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.5706325623177051,-1.625640463224796,0.71338606911949],"aabb_xy":[[0.5056325637606324,-1.6553929966386787],[0.635632560874778,-1.5958879298109134]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.030526707506221773,-1.3187846487354404,0.71338606911949],"aabb_xy":[[-0.04299406561595742,-1.331249973368764],[-0.018059349396486127,-1.306319324102117]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.3283704353175403,-1.4028713816652358,0.71338606911949],"aabb_xy":[[0.2783874851300609,-1.4528713813077958],[0.37835338550501957,-1.352871382022675]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[0.37037940711443706,-2.5046924183606776,0.71338606911949],"aabb_xy":[[0.3328794064498583,-2.520379476360899],[0.4078794077790157,-2.4890053603604545]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.4485556420051082,-1.4506298739809649,0.71338606911949],"aabb_xy":[[0.4398416729551736,-1.473129874640153],[0.4572696110550426,-1.4281298733217767]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.3721431434326818,-0.8870237890869905,0.71338606911949],"aabb_xy":[[-0.4096431446174745,-0.8914420117830509],[-0.3346431422478889,-0.8826055663909299]]},{"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_19","position":[-0.25247608785141873,-1.494230815632704,0.71338606911949],"aabb_xy":[[-0.28997608802329067,-1.526931551015611],[-0.2149760876795468,-1.4615300802497966]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[0.1533154827153307,-1.5134288963675273,0.71338606911949],"aabb_xy":[[0.14590302717394218,-1.5192801067891553],[0.16072793825671913,-1.5075776859458994]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[-0.5960903671083027,1.574564421489193,0.71338606911949],"aabb_xy":[[-0.6455707883222614,1.5105644235763411],[-0.5466099458943439,1.6385644194020448]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[-0.6013898201897153,-0.5005570156735923,0.71338606911949],"aabb_xy":[[-0.6188898194678022,-0.5178951157399382],[-0.5838898209116284,-0.4832189156072463]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_23","position":[-0.49468563619805705,-2.384808741125764,0.71338606911949],"aabb_xy":[[-0.5303147920980168,-2.420441407882617],[-0.4590564802980973,-2.349176074368911]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[0.28627062690393956,-1.7008481547244094,0.71338606911949],"aabb_xy":[[0.2711683254429214,-1.7159496763554711],[0.3013729283649576,-1.6857466330933473]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_25","position":[-0.5818938441008932,-0.03886165469625036,0.71338606911949],"aabb_xy":[[-0.64189384394746,-0.09568027688928904],[-0.5218938442543264,0.017956967496788323]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_26","position":[0.533900711324794,-0.4438602656790218,0.71338606911949],"aabb_xy":[[0.4798851150428939,-0.507860268571279],[0.5879163076066939,-0.37986026278676466]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[0.048168855326205295,1.5922333701456073,0.71338606911949],"aabb_xy":[[0.00036268771243663783,1.527233367438548],[0.09597502293997393,1.657233372852666]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_28","position":[0.04507779596658401,-2.0576105777118805,0.71338606911949],"aabb_xy":[[-0.004906439741593223,-2.1076105765253765],[0.09506203167476124,-2.0076105788983853]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[-0.07488937684720309,0.02346400875184207,0.71338606911949],"aabb_xy":[[-0.10866493603789606,0.009425513538677044],[-0.04111381765651012,0.037502503965007095]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_30","position":[-0.36987066863701146,-1.863989291973919,0.71338606911949],"aabb_xy":[[-0.4338706678067814,-1.9107559790928816],[-0.3058706694672415,-1.8172226048549567]]}],"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":0.6973317738367508,"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/272.png","name":"272"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/272.png","name":"272"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6362.png","name":"6362"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8602.png","name":"8602"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4267.png","name":"4267"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8473.png","name":"8473"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":812.7585681650157,"rotation_z_degrees":314.09420449569865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005635133445591391,0.0065563155114758374,-0.015464109016817646]},{"name":"camera_2","offset_m":[0.015786548562863257,0.005275816345418884,-0.008476730106543288]},{"name":"camera_3","offset_m":[0.01939423981248514,-0.00450539191209836,0.005438684921222833]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00036584818155241416,-0.0008004233645798298,-0.0005486852966103668],"end_effector_yaw_offset_degrees":-0.17532152593377903},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008710226475497818,0.0005057491632958987,0.0017698363324350663],"end_effector_yaw_offset_degrees":0.007293112634670473},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000756127007973304,0.0004354081506074128,-0.00030773194669628896],"end_effector_yaw_offset_degrees":0.28625149497932045}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004241718256474854,-0.0021784209086650264],"position_m":[0.2961758281743525,0.36322157909133496,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003688373539560333,-0.0039054639329817254],"position_m":[0.2743883735395603,-0.35960546393298176,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0039104040224987825,0.0013679529793441496],"position_m":[0.34761040402249876,0.26646795297934417,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004581805199824695,0.00016264134370249077],"position_m":[0.3084181948001753,0.06346264134370248,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1850c89f0a4d75936a621c35bf7a42c2d7bbb340feb9eb00026a40ec56ba53f7","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_272/tex_ceiling_textures_8473/tex_floor_textures_4267/tex_table_textures_6362/tex_wall_textures_8602","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1185710921472102439,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1185710921472102439,"visual_seed":1185710921472102439,"scene_id":"lab_003","finished_at":"2026-09-04T19:54:23"} +{"episode_id":"ep_000085","started_at":"2026-09-04T19:54:27","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[0.2929148072417529,-1.320042199464461,0.71338606911949],"aabb_xy":[[0.2704500372703477,-1.3425422003433216],[0.31537957721315796,-1.2975421985856006]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[0.06750083217441294,1.1289656718426881,0.71338606911949],"aabb_xy":[[0.024734125294992748,1.0649656684208855],[0.11026753905383313,1.1929656752644904]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.061494667384855095,0.34939812522094593,0.71338606911949],"aabb_xy":[[-0.07899460081883847,0.33189812530071133],[-0.04399473395087172,0.3668981251411804]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[-0.1497006045675361,1.618120309059845,0.71338606911949],"aabb_xy":[[-0.23970060130314627,1.5649368457425505],[-0.05970060783192585,1.6713037723771396]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[0.2093835357983822,1.2950332256329729,0.71338606911949],"aabb_xy":[[0.1293835371414962,1.28052836670871],[0.2893835344552682,1.3095380845572357]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[0.3832950759751679,1.5540881834854345,0.71338606911949],"aabb_xy":[[0.3182950750180406,1.502139971551729],[0.44829507693229503,1.6060363954191401]]},{"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_6","position":[0.24609093527355375,-2.022814118371475,0.71338606911949],"aabb_xy":[[0.2085909351016818,-2.055514853754382],[0.2835909354454257,-1.9901133829885675]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[0.6161414185204703,-0.22149908538475271,0.71338606911949],"aabb_xy":[[0.5561414186739034,-0.2783177075777914],[0.676141418367037,-0.164680463191714]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[-0.5813153963507154,1.5184811123200261,0.71338606911949],"aabb_xy":[[-0.6513153981594608,1.4971273435558388],[-0.51131539454197,1.5398348810842135]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[0.5025526924314279,1.2148563973157893,0.71338606911949],"aabb_xy":[[0.49377146528419175,1.2060766500272593],[0.5113339195786643,1.2236361446043198]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.5165469598000301,0.34866091975451274,0.71338606911949],"aabb_xy":[[0.4752981487701153,0.2936609202422953],[0.5577957708299447,0.4036609192667302]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.47871758996501534,-1.5108438793429892,0.71338606911949],"aabb_xy":[[0.4612175897199659,-1.5283436671825559],[0.4962175902100647,-1.4933440915034222]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[0.5884594251667596,1.6694272312326688,0.71338606911949],"aabb_xy":[[0.5539969471536718,1.662763554049746],[0.6229219031798473,1.6760909084155915]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[-0.2588256077245295,-1.2306805557761709,0.71338606911949],"aabb_xy":[[-0.26606937377077483,-1.3106805539797732],[-0.2515818416782842,-1.1506805575725685]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[-0.2573544601345615,-1.8184052861819082,0.71338606911949],"aabb_xy":[[-0.29485446079914013,-1.8340923441821302],[-0.21985445946998275,-1.8027182281816858]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[0.5635704337420029,-1.3365240750638874,0.71338606911949],"aabb_xy":[[0.5586711414354394,-1.364200994366456],[0.5684697260485664,-1.3088471557613184]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[0.6921869833713832,0.7190962182455278,0.71338606911949],"aabb_xy":[[0.6700144563947323,0.6969205510894046],[0.714359510348034,0.741271885401651]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[-0.5511692313915282,-1.7515000044186273,0.71338606911949],"aabb_xy":[[-0.5608008676119577,-1.7611373171983362],[-0.5415375951710985,-1.7418626916389184]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[-0.17582986153652302,1.3421109534533922,0.71338606911949],"aabb_xy":[[-0.2126244946614293,1.3052050783568099],[-0.13903522841161675,1.3790168285499744]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[0.5780332193415505,-2.53440939547045,0.71338606911949],"aabb_xy":[[0.5140332160518423,-2.577744314474367],[0.6420332226312585,-2.491074476466532]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.6544622057761884,-1.9179932511527422,0.71338606911949],"aabb_xy":[[-0.6652351796975562,-1.952993249371781],[-0.6436892318548206,-1.882993252933703]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.19697729210708997,0.6610775121242125,0.71338606911949],"aabb_xy":[[-0.2128617853724151,0.6467245718253886],[-0.1810927988417648,0.6754304524230367]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[-0.30098035947780316,1.2837639263645246,0.71338606911949],"aabb_xy":[[-0.31285244248930427,1.1987639266708743],[-0.28910827646630205,1.368763926058175]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[-0.46835765050719336,-2.386101868302654,0.71338606911949],"aabb_xy":[[-0.5333576515076939,-2.4368882334573287],[-0.40335764950669284,-2.335315503147979]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[-0.012396498761082286,-1.114054989453573,0.71338606911949],"aabb_xy":[[-0.02989649803916916,-1.131393089519919],[0.005103500517004587,-1.096716889387227]]},{"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_25","position":[-0.23736995907142688,0.23914337739225244,0.71338606911949],"aabb_xy":[[-0.2673616218052972,0.20914337805545188],[-0.20737829633755653,0.269143376729053]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.07903767007443996,1.522843636341468,0.71338606911949],"aabb_xy":[[0.06387479709750289,1.5076781790463496],[0.09420054305137707,1.538009093636587]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_27","position":[-0.12507729061071227,1.151494898899133,0.71338606911949],"aabb_xy":[[-0.16257729090288708,1.1474534234985294],[-0.08757729031853745,1.1555363742997364]]}],"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":0.6924078231153897,"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/4691.png","name":"4691"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4691.png","name":"4691"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4137.png","name":"4137"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1621.png","name":"1621"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3009.png","name":"3009"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9723.png","name":"9723"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":678.6073335994865,"rotation_z_degrees":238.57927018712343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006377172892579365,-0.008789808264640202,0.01187766770218587]},{"name":"camera_2","offset_m":[0.007226314036717415,-0.0002296944735614287,0.00914308185619531]},{"name":"camera_3","offset_m":[0.0009625073574867603,0.013664522904447935,-0.014882613222477898]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003023475381449918,0.00028216835547999934,-0.0017785796379820847],"end_effector_yaw_offset_degrees":-0.23702085964498298},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005528600648211164,0.0006167743085369187,-0.00035452279029933825],"end_effector_yaw_offset_degrees":0.03418708313308039},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003594969762263328,0.00029936312393457265,0.0017353401228728748],"end_effector_yaw_offset_degrees":0.02033293285399962}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0034952888439480087,-0.0009601361540138784],"position_m":[0.300095288843948,0.36443986384598615,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020422300417599496,0.002943052724530773],"position_m":[0.27274223004175996,-0.35275694727546925,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031082231507621435,0.0036907651840801204],"position_m":[0.34680822315076215,0.2687907651840801,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031756018570981643,-0.000683777970616091],"position_m":[0.31617560185709814,0.06261622202938391,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4202a71c6d11a8e05804e2cfa1239eb11759b52c1dde498257bdfd0e7bf180a7","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4691/tex_ceiling_textures_9723/tex_floor_textures_3009/tex_table_textures_4137/tex_wall_textures_1621","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":3625252447477916588,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":3625252447477916588,"visual_seed":3625252447477916588,"scene_id":"lab_003","finished_at":"2026-09-04T19:57:46"} +{"episode_id":"ep_000086","started_at":"2026-09-04T19:57:50","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.5847629922659526,-0.116502910452986,0.71338606911949],"aabb_xy":[[-0.6083481157298475,-0.18150291269841778],[-0.5611778688020578,-0.05150290820755421]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[-0.6136373930161316,0.9632643793103184,0.71338606911949],"aabb_xy":[[-0.6361021629875367,0.940764378431458],[-0.5911726230447265,0.985764380189179]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[0.09258279125334012,1.646752495181588,0.71338606911949],"aabb_xy":[[0.08724521558733556,1.6217524942524484],[0.09792036691934469,1.671752496110728]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.6463496807442191,1.1578272000410035,0.71338606911949],"aabb_xy":[[0.5963496820982979,1.107907656381541],[0.6963496793901403,1.2077467437004659]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.4946433094526179,1.101103332145445,0.71338606911949],"aabb_xy":[[0.4727535618636772,1.011103334856196],[0.5165330570415587,1.1911033294346942]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.25193916133005445,0.6344371724194131,0.71338606911949],"aabb_xy":[[-0.26005281600343155,0.626331355965384],[-0.24382550665667735,0.6425429888734422]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[-0.6229460204039955,-0.8819407144453402,0.71338606911949],"aabb_xy":[[-0.6270241783110453,-0.8860216946936035],[-0.6188678624969457,-0.8778597341970769]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.6114897702585111,-0.1536541133843885,0.71338606911949],"aabb_xy":[[0.6034957816808076,-0.16165419347947885],[0.6194837588362144,-0.14565403328929816]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[-0.5207393124396963,0.8154588343334361,0.71338606911949],"aabb_xy":[[-0.5847393147824979,0.7705179830893036],[-0.4567393100968948,0.8603996855775686]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[0.6931891310729816,-0.9555851139761011,0.71338606911949],"aabb_xy":[[0.6831074239944082,-1.0355851118682158],[0.7032708381515551,-0.8755851160839865]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[0.45662091016357165,1.59237119165905,0.71338606911949],"aabb_xy":[[0.4066478446310563,1.542371191846517],[0.5065939756960872,1.6423711914715828]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[-0.412881890599417,1.6044029881305497,0.71338606911949],"aabb_xy":[[-0.4493777112266957,1.5679190457037921],[-0.3763860699721382,1.6408869305573073]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[0.5680039247926947,1.3317447038101209,0.71338606911949],"aabb_xy":[[0.5396742148441546,1.327283961616404],[0.596333634741235,1.3362054460038382]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[0.22411418710325848,1.5670530387168857,0.71338606911949],"aabb_xy":[[0.154114185294513,1.5456992699526984],[0.2941141889120039,1.588406807481073]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[-0.6728079747270865,0.5312578602735054,0.71338606911949],"aabb_xy":[[-0.6808513346530416,0.446257859178139],[-0.6647646148011312,0.6162578613688718]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[0.5803562857561184,-1.3614190461711446,0.71338606911949],"aabb_xy":[[0.5428562850915396,-1.3771061041713666],[0.617856286420697,-1.3457319881709222]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[0.6825570266877854,-0.6995318156062935,0.71338606911949],"aabb_xy":[[0.6626659868074452,-0.7121876268909905],[0.7024480665681256,-0.6868760043215968]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[0.15133148381307981,-2.133464550322769,0.71338606911949],"aabb_xy":[[0.13383148467871261,-2.143344177360356],[0.16883148294744696,-2.1235849232851804]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.27610675800701395,-1.2187082066323236,0.71338606911949],"aabb_xy":[[-0.3060743149168396,-1.2487082069302093],[-0.2461392010971883,-1.1887082063344379]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.23993626214991087,-0.24250591587031467,0.71338606911949],"aabb_xy":[[-0.2507878683987864,-0.2533652065979657],[-0.22908465590103524,-0.23164662514266368]]},{"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_20","position":[-0.5806291099665694,1.4692312616479364,0.71338606911949],"aabb_xy":[[-0.6382595788538401,1.4092312627212256],[-0.5229986410792984,1.5292312605746465]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.5030863026979251,-2.286565049140182,0.71338606911949],"aabb_xy":[[-0.5084188173525381,-2.2918893773854174],[-0.4977537880433121,-2.281240720894946]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.24325663633299066,-2.24619913679457,0.71338606911949],"aabb_xy":[[-0.25147118144867453,-2.254875727092211],[-0.23504209121730663,-2.2375225464969284]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[-0.411114730216649,-2.5484301216621454,0.71338606911949],"aabb_xy":[[-0.43566094583939974,-2.5786790182111825],[-0.3865685145938983,-2.5181812251131084]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_24","position":[0.022883429308588665,1.2426715619797641,0.71338606911949],"aabb_xy":[[0.011521694655302502,1.231303095573476],[0.034245163961874825,1.2540400283860522]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_25","position":[-0.32546980417950017,-2.1228166424196653,0.71338606911949],"aabb_xy":[[-0.3804435262158331,-2.1778166419838985],[-0.27049608214316734,-2.067816642855432]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[-0.29575518656882044,-0.9705033495311333,0.71338606911949],"aabb_xy":[[-0.3186708994538704,-0.993407646667557],[-0.2728394736837706,-0.94759905239471]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[0.12906763897356788,-1.9517540447021828,0.71338606911949],"aabb_xy":[[0.09406764066287243,-1.9594690596257283],[0.16406763728426332,-1.944039029778637]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[-0.1715214286756136,-0.6018689708397538,0.71338606911949],"aabb_xy":[[-0.23552142726218606,-0.6488759342392624],[-0.10752143008904114,-0.5548620074402449]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[0.594452097824187,-0.8147106330397826,0.71338606911949],"aabb_xy":[[0.5826839110295295,-0.8997106329450045],[0.6062202846188446,-0.7297106331345613]]},{"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_30","position":[-0.1924820540347637,0.30090806066447806,0.71338606911949],"aabb_xy":[[-0.22247371676863403,0.27090806132767753],[-0.16249039130089338,0.3309080600012786]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[-0.3667118143416377,-0.35348249732154624,0.71338606911949],"aabb_xy":[[-0.3892082357755018,-0.3759824971282937],[-0.3442153929077736,-0.3309824975147988]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_32","position":[-0.33650073683114756,1.1759356711375144,0.71338606911949],"aabb_xy":[[-0.3610143609281534,1.151671077835478],[-0.3119871127341417,1.2002002644395509]]}],"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":0.6943400432152863,"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/9399.png","name":"9399"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9399.png","name":"9399"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6969.png","name":"6969"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7879.png","name":"7879"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6925.png","name":"6925"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2582.png","name":"2582"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":691.1389876144667,"rotation_z_degrees":177.41929805540764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014949604275833368,0.0028552388011545103,-0.013297981189661644]},{"name":"camera_2","offset_m":[-0.012255145777833393,-0.012516453221282808,0.0008869860119749516]},{"name":"camera_3","offset_m":[-0.009691983926566184,0.011063522342242848,0.005922563068219304]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002968789869618421,-0.0005478017356377297,0.0016525093690142652],"end_effector_yaw_offset_degrees":0.40784822574911206},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00030225905269887134,-0.001307896142146482,2.194966018966753e-05],"end_effector_yaw_offset_degrees":0.24106656558814432},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009552165967500468,-0.00027023923018904667,0.0008631807228438666],"end_effector_yaw_offset_degrees":0.47312974942683006}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003099233440336053,0.0013923074817671181],"position_m":[0.2935007665596639,0.3667923074817671,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016771095991155727,-0.001444013645400235],"position_m":[0.27237710959911554,-0.35714401364540027,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027573158595895577,-0.004805189295382542],"position_m":[0.34094268414041046,0.26029481070461746,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022746178218907877,0.004409332560145643],"position_m":[0.3152746178218908,0.06770933256014564,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"edd59bfe6f59ba55c6d1dca895396070537ada1ad9c8ca109566a4f18312500b","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9399/tex_ceiling_textures_2582/tex_floor_textures_6925/tex_table_textures_6969/tex_wall_textures_7879","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":9073568016484129702,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":9073568016484129702,"visual_seed":9073568016484129702,"scene_id":"lab_003","finished_at":"2026-09-04T20:01:11"} +{"episode_id":"ep_000087","started_at":"2026-09-04T20:01:14","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.025260222250009012,-1.762380889878837,0.71338606911949],"aabb_xy":[[0.00071400662725829,-1.792629786427874],[0.04980643787275973,-1.7321319933297998]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[0.6410829603398309,-2.434319189027449,0.71338606911949],"aabb_xy":[[0.6185829598277902,-2.4568110473928475],[0.6635829608518714,-2.411827330662051]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.6803683510165401,0.6501273871950484,0.71338606911949],"aabb_xy":[[0.6652054780396031,0.6349619298999297],[0.6955312239934772,0.6652928444901672]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.5425695422378016,-2.1372045198954988,0.71338606911949],"aabb_xy":[[0.5082532650631836,-2.187204519868676],[0.5768858194124195,-2.0872045199223206]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.5844007810765355,1.1333269122414795,0.71338606911949],"aabb_xy":[[0.5470695045512929,1.0986738574466273],[0.6217320576017781,1.1679799670363318]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.520458122143732,-1.316937756802528,0.71338606911949],"aabb_xy":[[-0.5704355390089855,-1.3669377582917763],[-0.47048070527847835,-1.2669377553132792]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[0.5218952571325606,-0.08823497190310325,0.71338606911949],"aabb_xy":[[0.48439525634056513,-0.09460281286129335],[0.559395257924556,-0.08186713094491316]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[0.4077310231126454,0.6565672233165669,0.71338606911949],"aabb_xy":[[0.3576335591315718,0.5925672228067551],[0.45782848709371904,0.7205672238263787]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.7010656364271775,-0.6584117038192252,0.71338606911949],"aabb_xy":[[0.6930293017258926,-0.666449823123642],[0.7091019711284623,-0.6503735845148084]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[0.1581138032808973,-1.1823397448073472,0.71338606911949],"aabb_xy":[[0.13922941951238713,-1.2012256695877],[0.17699818704940753,-1.1634538200269944]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.4062540304321036,-1.2996566175328514,0.71338606911949],"aabb_xy":[[0.37277486317106273,-1.3331357309039584],[0.4397331976931446,-1.2661775041617445]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.5315323248938371,0.9330412544622511,0.71338606911949],"aabb_xy":[[0.4515323274902437,0.8530486832640682],[0.6115323222974305,1.0130338256604339]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[0.1973169136783285,-0.6317048276699917,0.71338606911949],"aabb_xy":[[0.1902754627275809,-0.6387315794077862],[0.20435836462907608,-0.6246780759321972]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[0.640716052175049,0.31523328255674654,0.71338606911949],"aabb_xy":[[0.6327927719363006,0.2927332823187432],[0.6486393324137972,0.3377332827947499]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.17401820216952146,0.5999813145968904,0.71338606911949],"aabb_xy":[[-0.1965146236033856,0.577481314790143],[-0.1515217807356574,0.6224813144036379]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[-0.2639272987318968,1.2087356268162837,0.71338606911949],"aabb_xy":[[-0.28303960608987566,1.1896008479390416],[-0.24481499137391793,1.2278704056935257]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.6586494302192294,-2.2351879900956684,0.71338606911949],"aabb_xy":[[-0.6872987625796455,-2.2638335493727437],[-0.6300000978588131,-2.206542430818592]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[0.45641917966819023,0.1421387366445792,0.71338606911949],"aabb_xy":[[0.4219567016551024,0.13547505946165636],[0.49088165768127795,0.148802413827502]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.25637402493529077,-0.32639871580720214,0.71338606911949],"aabb_xy":[[-0.3363740263654179,-0.4059158708198116],[-0.1763740235051635,-0.24688156079459267]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.244831802509901,-0.9071958895004586,0.71338606911949],"aabb_xy":[[0.16483180452911594,-0.9147974304623104],[0.32483180049068605,-0.8995943485386065]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[0.008436099743854397,0.9562702057100498,0.71338606911949],"aabb_xy":[[-0.014077592079602798,0.8862702051090422],[0.03094979156731159,1.0262702063110574]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.19165358858861892,1.6052749961810604,0.71338606911949],"aabb_xy":[[-0.22915358840565245,1.6006367848699183],[-0.15415358877158533,1.609913207492202]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[-0.612807985797911,1.5563145666122336,0.71338606911949],"aabb_xy":[[-0.6606141534116796,1.4913145639051746],[-0.5650018181841423,1.6213145693192923]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_23","position":[0.677446934157077,-1.0344078037902393,0.71338606911949],"aabb_xy":[[0.6524469342245591,-1.0412904720111626],[0.7024469340895949,-1.027525135569316]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.3516032393953503,-1.1433862706165525,0.71338606911949],"aabb_xy":[[0.34280118408637755,-1.1511975967714814],[0.360405294704323,-1.1355749444616232]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[-0.2562580309396845,-1.5255172736928233,0.71338606911949],"aabb_xy":[[-0.31125803011627395,-1.5805069484677807],[-0.20125803176309498,-1.4705275989178654]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_26","position":[0.3645680973077363,-2.0533996144996562,0.71338606911949],"aabb_xy":[[0.30056809693020264,-2.1031448813504685],[0.4285680976852699,-2.003654347648844]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_27","position":[-0.5927969064520101,0.1499498658309193,0.71338606911949],"aabb_xy":[[-0.6567969087948117,0.10500901458678681],[-0.5287969041092085,0.1948907170750518]]}],"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":0.6975733854349404,"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/4255.png","name":"4255"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4255.png","name":"4255"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2123.png","name":"2123"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1480.png","name":"1480"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3615.png","name":"3615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1497.png","name":"1497"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":753.124082615866,"rotation_z_degrees":2.664778733541917,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008255792160231082,-0.006990632183731709,-0.01254914960643137]},{"name":"camera_2","offset_m":[-0.009600791824172346,0.017718827026331496,0.010825127594116378]},{"name":"camera_3","offset_m":[-0.004728056555867832,-0.01714574470087659,0.0078588617801333]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00021526470720815549,-0.0009584204612521777,0.0012167744291868461],"end_effector_yaw_offset_degrees":-0.37295770877453593},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011922055623318673,0.00015356055057162742,0.0005261307445776301],"end_effector_yaw_offset_degrees":-0.027114282627656028},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00010915012350065255,0.0007465181523981334,0.0008330377072350388],"end_effector_yaw_offset_degrees":0.616667319831905}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004445403722184244,0.0018945587350616211],"position_m":[0.2921545962778157,0.3672945587350616,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0042561941730228986,-0.003429931737484907],"position_m":[0.2749561941730229,-0.3591299317374849,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004774325158428456,-0.0023873107108591885],"position_m":[0.34847432515842847,0.2627126892891408,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011661289559802557,-0.004893438089657186],"position_m":[0.3118338710440197,0.05840656191034281,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a119ce29dff1ecb518fc6b58172557ab53e18d9b5ea710db22e955131b317e89","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4255/tex_ceiling_textures_1497/tex_floor_textures_3615/tex_table_textures_2123/tex_wall_textures_1480","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4144712060979190862,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4144712060979190862,"visual_seed":4144712060979190862,"scene_id":"lab_003","finished_at":"2026-09-04T20:04:25"} +{"episode_id":"ep_000088","started_at":"2026-09-04T20:04:30","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[-0.6474060992058109,-0.23647803836086645,0.71338606911949],"aabb_xy":[[-0.652864044842831,-0.31647804166852556],[-0.6419481535687909,-0.15647803505320734]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.5431658555483136,0.6017219486473726,0.71338606911949],"aabb_xy":[[0.4534787792401982,0.5117219483929221],[0.6328529318564291,0.6917219489018231]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[0.2711368178287836,0.5480200015737542,0.71338606911949],"aabb_xy":[[0.23613681869882797,0.5422747804980902],[0.3061368169587393,0.5537652226494184]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[-0.5419935748712117,-2.1779279969366767,0.71338606911949],"aabb_xy":[[-0.5499870646664938,-2.1859261288771523],[-0.5340000850759298,-2.169929864996201]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.14885887865393654,0.8895314870936248,0.71338606911949],"aabb_xy":[[-0.17135801438016351,0.8670314863153619],[-0.12635974292770957,0.9120314878718878]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[-0.033308619569338394,-1.8529003474838046,0.71338606911949],"aabb_xy":[[-0.05080861884742527,-1.8702384475501506],[-0.01580862029125152,-1.8355622474174587]]},{"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_6","position":[0.140424020687561,-0.8954616155152582,0.71338606911949],"aabb_xy":[[0.13432939279944267,-0.9040310100669268],[0.1465186485756793,-0.8868922209635893]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.37772379629258457,1.4680221004840628,0.71338606911949],"aabb_xy":[[0.3525029594327448,1.4427983496311756],[0.4029446331524241,1.493245851336949]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.0021574206937183815,1.5921638207664173,0.71338606911949],"aabb_xy":[[-0.016726963074791823,1.5732778959860647],[0.021041804462228586,1.6110497455467703]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.5101087298794802,-1.5704806763661259,0.71338606911949],"aabb_xy":[[-0.5466045505067589,-1.6069646187928832],[-0.47361290925220145,-1.533996733939368]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[0.1143926834285719,-1.7506555646414395,0.71338606911949],"aabb_xy":[[0.05039268612622548,-1.795021991609296],[0.1783926807309183,-1.7062891376735825]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.6594690069371223,-1.241267588848185,0.71338606911949],"aabb_xy":[[-0.6857578312575627,-1.267539022502836],[-0.6331801826166814,-1.2149961551935335]]},{"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_12","position":[-0.05225345955298144,0.7979358355469808,0.71338606911949],"aabb_xy":[[-0.060951421843696736,0.7858108612395062],[-0.04355549726226615,0.8100608098544556]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.3165261952859717,-0.35133547813727173,0.71338606911949],"aabb_xy":[[-0.3965261985499848,-0.36489551044618507],[-0.23652619202195851,-0.3377754458283584]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.10908138285843672,0.525990350991997,0.71338606911949],"aabb_xy":[[-0.17308138144500917,0.47898338759248826],[-0.045081384271864255,0.5729973143915057]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[-0.058806947092109096,-2.269400007917395,0.71338606911949],"aabb_xy":[[-0.13880694410635708,-2.2895345595908063],[0.02119304992213889,-2.2492654562439833]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.3185238772830714,-0.5076377040427196,0.71338606911949],"aabb_xy":[[-0.34210900074696626,-0.5726377062881514],[-0.29493875381917656,-0.4426377017972878]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.25289898481333944,-1.9478646974211864,0.71338606911949],"aabb_xy":[[-0.2903989832367398,-1.9610289113890167],[-0.2153989863899391,-1.9347004834533557]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.2203556867053555,-1.5200450720359722,0.71338606911949],"aabb_xy":[[-0.2616602297690914,-1.584045071604089],[-0.17905114364161948,-1.4560450724678549]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.003784596034731691,1.1096843436539556,0.71338606911949],"aabb_xy":[[-0.08621540764218648,1.048251937076851],[0.09378459971164985,1.1711167502310598]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[0.1620738980888734,-1.2062985137472675,0.71338606911949],"aabb_xy":[[0.14296159073089454,-1.2254332926245093],[0.18118620544685227,-1.1871637348700252]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[-0.29334041494346313,1.2222501645641475,0.71338606911949],"aabb_xy":[[-0.32793149779750835,1.1572501642791162],[-0.2587493320894179,1.2872501648491783]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[-0.21971784145053375,1.036815816615578,0.71338606911949],"aabb_xy":[[-0.2278314961239108,1.028710000161549],[-0.2116041867771566,1.0449216330696072]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[0.17897098046351145,-2.2460249418941203,0.71338606911949],"aabb_xy":[[0.16147104702952808,-2.2635249418143544],[0.19647091389749483,-2.2285249419738853]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[0.07669720268486735,1.7583638675494284,0.71338606911949],"aabb_xy":[[0.03544839165495262,1.7033638680372107],[0.11794601371478208,1.8133638670616457]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[0.16727569004502296,1.5570502453003194,0.71338606911949],"aabb_xy":[[0.10327568836702561,1.5085328538210052],[0.23127569172302032,1.6055676367796337]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_26","position":[-0.5376833607232483,1.4186509707407375,0.71338606911949],"aabb_xy":[[-0.547100835293111,1.4092347936030185],[-0.5282658861533855,1.4280671478784566]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[-0.06818133477859878,-1.936742224939109,0.71338606911949],"aabb_xy":[[-0.08080812206579513,-1.946288298640682],[-0.05555454749140243,-1.9271961512375362]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_28","position":[-0.16625212320414218,-0.8488073599984469,0.71338606911949],"aabb_xy":[[-0.18875212344765757,-0.8610119946582189],[-0.14375212296062678,-0.836602725338675]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_29","position":[0.6412258868927232,0.9114568858860177,0.71338606911949],"aabb_xy":[[0.5911284229116497,0.8474568853762059],[0.6913233508737969,0.9754568863958295]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_30","position":[-0.14228936082756427,-2.4868499844326966,0.71338606911949],"aabb_xy":[[-0.20728936346535776,-2.5383295831321435],[-0.07728935818977078,-2.4353703857332496]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_31","position":[0.2742021266980651,-1.5996199002950497,0.71338606911949],"aabb_xy":[[0.21420212610204892,-1.6544323728402732],[0.3342021272940813,-1.5448074277498263]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_32","position":[0.628978355352301,-1.3818909731458833,0.71338606911949],"aabb_xy":[[0.5639783542463577,-1.4068563462140116],[0.6939783564582442,-1.356925600077755]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_33","position":[0.43647226240035675,1.1402769525462384,0.71338606911949],"aabb_xy":[[0.42569928847898897,1.1052769543271994],[0.4472452363217245,1.1752769507652774]]}],"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":0.6916910798485885,"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/1785.png","name":"1785"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1785.png","name":"1785"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9642.png","name":"9642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/31.png","name":"31"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2311.png","name":"2311"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":500.9858571188909,"rotation_z_degrees":254.74059021871568,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012131127807509728,-0.0014945872280643334,-0.010878922298478946]},{"name":"camera_2","offset_m":[0.00540623988758307,-0.003676594728122852,-0.005832168013135597]},{"name":"camera_3","offset_m":[0.018526680744207057,0.013187147245734849,-0.006165622856859971]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010865396764657047,-3.0114193034194887e-06,0.00046475158091177377],"end_effector_yaw_offset_degrees":0.5666659453103229},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003849912826194143,-0.0014983912627172323,-0.00042617077470266727],"end_effector_yaw_offset_degrees":0.32192832475258304},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007766889131236754,-2.9089226049516716e-05,-0.0005223597865537083],"end_effector_yaw_offset_degrees":0.4209761118206534}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004245080747147788,-0.002899601103378914],"position_m":[0.2923549192528522,0.3625003988966211,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00020893371588339045,0.0012615519267881337],"position_m":[0.27090893371588337,-0.3544384480732119,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020490094693650486,-0.0021746349079554863],"position_m":[0.34165099053063497,0.2629253650920445,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003337513743537435,0.003592662172636019],"position_m":[0.31266624862564624,0.06689266217263601,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c0544ca079c64784aea7c2e2d2ced54292373649a9dbd839d5844e230bba8b1","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1785/tex_ceiling_textures_2311/tex_floor_textures_31/tex_table_textures_9642/tex_wall_textures_9650","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6034055652285574452,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6034055652285574452,"visual_seed":6034055652285574452,"scene_id":"lab_003","finished_at":"2026-09-04T20:07:53"} +{"episode_id":"ep_000089","started_at":"2026-09-04T20:07:57","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[-0.2457130586218349,-0.8995655197564463,0.71338606911949],"aabb_xy":[[-0.2956960088093141,-0.9495655193990065],[-0.1957301084343555,-0.8495655201138856]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.541570879041587,-1.1293651896191377,0.71338606911949],"aabb_xy":[[0.4775708826460139,-1.193328478037871],[0.60557087543716,-1.065401901200404]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[-0.10011846753950371,-0.67012819073816,0.71338606911949],"aabb_xy":[[-0.1305165786386473,-0.7005350927398293],[-0.06972035644036012,-0.6397212887364903]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[0.6134713129304423,-0.27540451363922713,0.71338606911949],"aabb_xy":[[0.5759713121384469,-0.2817723545974172],[0.6509713137224378,-0.269036672681037]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.5440687840144272,-0.34346460788382593,0.71338606911949],"aabb_xy":[[0.5360752942191452,-0.3514627398243016],[0.5520622738097093,-0.3354664759433503]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.29287428550794015,-0.9820360875728276,0.71338606911949],"aabb_xy":[[0.2856305194616948,-1.06203608577643],[0.30011805155418547,-0.9020360893692251]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.6416675124418684,-2.4509125765620166,0.71338606911949],"aabb_xy":[[-0.6635761945812194,-2.472813243382107],[-0.6197588303025173,-2.4290119097419254]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[0.5323169483753076,-0.5170205846666986,0.71338606911949],"aabb_xy":[[0.5073169491033452,-0.5333659482628609],[0.5573169476472698,-0.5006752210705362]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[-0.6261592795158516,-1.5590218658718444,0.71338606911949],"aabb_xy":[[-0.6353191584597282,-1.5655530839153815],[-0.616999400571975,-1.5524906478283074]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[-0.37287083088884637,1.696864296783057,0.71338606911949],"aabb_xy":[[-0.436870832296837,1.6450753452591322],[-0.30887082948085565,1.7486532483069817]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.08458590060521931,1.0801123787662643,0.71338606911949],"aabb_xy":[[0.04958590062872348,1.0706477627186477],[0.11958590058171514,1.089576994813881]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[0.24593358432025636,-2.4544659404817004,0.71338606911949],"aabb_xy":[[0.19593358295936916,-2.504443845057116],[0.2959335856811436,-2.404488035906285]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[0.09263590741462457,-2.41170447444466,0.71338606911949],"aabb_xy":[[0.08300427119419494,-2.4213417872243688],[0.10226754363505418,-2.402067161664951]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.0949833459056697,0.7814100850645964,0.71338606911949],"aabb_xy":[[-0.14495641143818516,0.7314100852520635],[-0.045010280373154236,0.8314100848771294]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[-0.46115597946983655,-1.4883997957064758,0.71338606911949],"aabb_xy":[[-0.47123768654841,-1.5683997935985903],[-0.451074272391263,-1.408399797814361]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.630025502370759,-1.382265020637694,0.71338606911949],"aabb_xy":[[0.5500316787922009,-1.4622650232305359],[0.7100193259493174,-1.3022650180448527]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[0.3813242280057729,1.3494699031109185,0.71338606911949],"aabb_xy":[[0.3173242294192004,1.3024629397114098],[0.44532422659234533,1.3964768665104272]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.3892004619203253,-0.7710281067399225,0.71338606911949],"aabb_xy":[[-0.4203473807639084,-0.8410281054267297],[-0.35805354307674214,-0.7010281080531153]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[-0.0878700246636479,0.897682887932084,0.71338606911949],"aabb_xy":[[-0.09418212419998634,0.8919159486788653],[-0.08155792512730947,0.9034498271853029]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[-0.17789934126285578,1.457297636995381,0.71338606911949],"aabb_xy":[[-0.2278993422819911,1.420831421257553],[-0.12789934024372054,1.4937638527332089]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.31747109906037624,1.0968642117755905,0.71338606911949],"aabb_xy":[[-0.3247323466307837,1.084077201512081],[-0.3102098514899689,1.1096512220391]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.3836816417268586,0.39258195324314915,0.71338606911949],"aabb_xy":[[-0.39138483240093563,0.3848725825444111],[-0.37597845105278155,0.4002913239418871]]}],"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":0.6892213453513659,"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/9616.png","name":"9616"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9616.png","name":"9616"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4185.png","name":"4185"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8222.png","name":"8222"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1645.png","name":"1645"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4630.png","name":"4630"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":542.4653202011139,"rotation_z_degrees":16.636352706290648,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013600256313211944,-0.004556387654270936,0.006351652742653861]},{"name":"camera_2","offset_m":[-0.013395912139035047,0.018081293875470982,0.009694033218963127]},{"name":"camera_3","offset_m":[-0.016432869871415456,-0.0005842098821620123,-0.001630639165647086]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010043975528241753,-0.0005438708581310002,0.0019887165636368487],"end_effector_yaw_offset_degrees":0.4580835982690672},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010273117941159257,-0.0011240032034078975,-0.001762733893819175],"end_effector_yaw_offset_degrees":-0.8627046231335462},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019528335048203266,0.0006844436747010596,0.0011715930524668385],"end_effector_yaw_offset_degrees":-0.8509179221723868}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029825801644134337,-0.004610930041577634],"position_m":[0.2995825801644134,0.36078906995842236,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0047334413416045065,-0.0021588052592664765],"position_m":[0.26596655865839547,-0.3578588052592665,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008877893513358171,0.0021254736649042117],"position_m":[0.3428122106486642,0.26722547366490423,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004751996903834423,-0.004483484967316479],"position_m":[0.31775199690383443,0.058816515032683515,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"442bfc6c092c1e670cb63bbf3a4b37b41bd65a86139a7e1b61fa1237045b7094","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0089.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9616/tex_ceiling_textures_4630/tex_floor_textures_1645/tex_table_textures_4185/tex_wall_textures_8222","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8191327628794217734,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8191327628794217734,"visual_seed":8191327628794217734,"scene_id":"lab_003","finished_at":"2026-09-04T20:11:02"} +{"episode_id":"ep_000090","started_at":"2026-09-04T20:11:06","dimensions":{"distractor":{"count":27,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[-0.026855841430042715,-2.0561188140344977,0.71338606911949],"aabb_xy":[[-0.04876452356939376,-2.078019480854588],[-0.004947159290691668,-2.0342181472144065]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.20568805147741376,1.719382960076239,0.71338606911949],"aabb_xy":[[0.19483644522853819,1.708523669348588],[0.2165396577262894,1.73024225080389]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.14733935839838097,-0.2707528445718723,0.71338606911949],"aabb_xy":[[-0.15649923734225757,-0.27728406261540933],[-0.13817947945450437,-0.2642216265283353]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.3238265596316774,1.168347703976604,0.71338606911949],"aabb_xy":[[0.30619372403814976,1.150724757960981],[0.3414593952252049,1.185970649992227]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[0.1919950956882276,-1.6083768260408617,0.71338606911949],"aabb_xy":[[0.14199509432734034,-1.6583547306162774],[0.2419950970491148,-1.5583989214654461]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[-0.6517389760522733,-0.9308683473561328,0.71338606911949],"aabb_xy":[[-0.6716300159326136,-0.9435241586408297],[-0.6318479361719331,-0.918212536071436]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[-0.6009171184614889,-1.0274868747542223,0.71338606911949],"aabb_xy":[[-0.6184171177395758,-1.0448249748205682],[-0.583417119183402,-1.0101487746878763]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.17289810500954372,0.629778277793565,0.71338606911949],"aabb_xy":[[-0.19541179683300092,0.5597782771925575],[-0.15038441318608653,0.6997782783945725]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.20237225715672114,-0.8290747633960058,0.71338606911949],"aabb_xy":[[-0.21039852778734716,-0.8378262583733584],[-0.19434598652609517,-0.8203232684186532]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[-0.47817605541531016,0.7371522188600625,0.71338606911949],"aabb_xy":[[-0.48448815495164865,0.7313852796068439],[-0.4718639558789718,0.7429191581132815]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.36623176591164347,-0.34183002983351596,0.71338606911949],"aabb_xy":[[-0.41620483144415904,-0.39183002964604896],[-0.31625870037912807,-0.2918300300209831]]},{"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_11","position":[0.5177122894412185,0.5908057309543842,0.71338606911949],"aabb_xy":[[0.48021228926934645,0.5581049955714769],[0.5552122896130903,0.6235064663372912]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.33163094544241867,-1.8859837677174092,0.71338606911949],"aabb_xy":[[-0.35051532921092887,-1.9048696924977622],[-0.31274656167390846,-1.8670978429370566]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[0.40780142071390246,0.9768062310152499,0.71338606911949],"aabb_xy":[[0.3528014210921566,0.9218225382277772],[0.4628014203356483,1.0317899238027226]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.35525609507001743,-1.7019253256725495,0.71338606911949],"aabb_xy":[[-0.3781718079550674,-1.7248296228089735],[-0.33234038218496753,-1.6790210285361264]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.4498744357190896,0.17643695782454083,0.71338606911949],"aabb_xy":[[-0.5298744336998746,0.16883541686268888],[-0.36987443773830453,0.18403849878639278]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[-0.42691598204097037,-1.0672190714730663,0.71338606911949],"aabb_xy":[[-0.4341597480872157,-1.1472190696766686],[-0.41967221599472504,-0.9872190732694639]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.0955233875725986,1.1769785841284017,0.71338606911949],"aabb_xy":[[0.04943829631786712,1.1129785868758466],[0.14160847882733008,1.2409785813809568]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[-0.5849358337663363,-2.2853014621960726,0.71338606911949],"aabb_xy":[[-0.6224358321897365,-2.298465676163903],[-0.5474358353429358,-2.2721372482282414]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[-0.5490121231383966,-0.728997373417996,0.71338606911949],"aabb_xy":[[-0.5641842924200301,-0.7441662303461994],[-0.5338399538567634,-0.7138285164897927]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.10647414419869305,0.1291596223057616,0.71338606911949],"aabb_xy":[[-0.16647414470654598,0.0723128886198403],[-0.04647414369084014,0.1860063559916829]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_21","position":[-0.14442136277954165,-1.7849502525388266,0.71338606911949],"aabb_xy":[[-0.1787376399541596,-1.834950252512004],[-0.11010508560492371,-1.7349502525656486]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[-0.4006653061210393,-1.5278672072338928,0.71338606911949],"aabb_xy":[[-0.465665306155342,-1.5745678839142199],[-0.33566530608673656,-1.4811665305535653]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[-0.4493115546968238,-0.7225465363656844,0.71338606911949],"aabb_xy":[[-0.47177632466822894,-0.745046537244545],[-0.4268467847254187,-0.7000465354868239]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[-0.41849136795924086,-0.19567327781605126,0.71338606911949],"aabb_xy":[[-0.44099136777314324,-0.20014789418653192],[-0.3959913681453385,-0.19119866144557054]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_25","position":[0.18807100885404382,-0.6178527555511224,0.71338606911949],"aabb_xy":[[0.18261306321702372,-0.6978527588587814],[0.19352895449106386,-0.5378527522434632]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_26","position":[0.38479183393280825,-1.5949951377564069,0.71338606911949],"aabb_xy":[[0.294791837197198,-1.6481786010737012],[0.4747918306684184,-1.5418116744391122]]}],"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":0.6924756820949877,"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/4432.png","name":"4432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4432.png","name":"4432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7664.png","name":"7664"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1688.png","name":"1688"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6840.png","name":"6840"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7788.png","name":"7788"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":754.3973677308512,"rotation_z_degrees":130.7087226269344,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01360753785865296,0.009793996379176755,-0.007846836201383605]},{"name":"camera_2","offset_m":[0.0111582583889876,-0.014326991777495857,-0.017671248885229595]},{"name":"camera_3","offset_m":[0.019757174295740174,0.018131267042881875,0.012044261666456595]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00026297154863898827,0.001504190821126196,0.0016030611050514131],"end_effector_yaw_offset_degrees":0.9758660889314394},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010946804874678623,0.0006080407368704815,0.00021805722785260637],"end_effector_yaw_offset_degrees":0.21818233146288013},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[4.821756573801647e-05,-0.00026735473687506013,0.0019854397618920853],"end_effector_yaw_offset_degrees":0.7036005730344432}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008254011797766978,0.0023202594953376275],"position_m":[0.29742540117977667,0.36772025949533765,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[7.661513580503078e-05,-0.0004878386577943303],"position_m":[0.27077661513580503,-0.35618783865779435,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020568263891315784,0.0014531549952583852],"position_m":[0.34164317361086843,0.2665531549952584,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00487034895669167,0.0007857823305022701],"position_m":[0.3081296510433083,0.06408578233050227,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"78bae1193a9ae79a791eaad27d434e39704cd449d0121c4e63240537dbc88dc8","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4432/tex_ceiling_textures_7788/tex_floor_textures_6840/tex_table_textures_7664/tex_wall_textures_1688","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6258947346895344560,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6258947346895344560,"visual_seed":6258947346895344560,"scene_id":"lab_003","finished_at":"2026-09-04T20:14:23"} +{"episode_id":"ep_000091","started_at":"2026-09-04T20:14:26","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.09148475261677547,-1.515570048832252,0.71338606911949],"aabb_xy":[[0.06931222564012461,-1.5377457159883752],[0.11365727959342628,-1.4933943816761288]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_1","position":[0.4603769708042662,-0.9417599342916241,0.71338606911949],"aabb_xy":[[0.4495364925777513,-0.958946215582273],[0.4712174490307811,-0.9245736530009754]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.529527919628995,1.409662982961386,0.71338606911949],"aabb_xy":[[-0.609527918285881,1.3951581240371231],[-0.44952792097210903,1.424167841885649]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.5010506535398355,-2.089424815515938,0.71338606911949],"aabb_xy":[[-0.5192564772010831,-2.1004502160979297],[-0.4828448298785878,-2.0783994149339464]]},{"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_4","position":[-0.5856528782347602,-2.0285973792777967,0.71338606911949],"aabb_xy":[[-0.5949464964719107,-2.0660973777659306],[-0.5763592599976095,-1.9910973807896628]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[0.5579126172960178,-2.0003916580683994,0.71338606911949],"aabb_xy":[[0.47791262033297854,-2.077467299712173],[0.6379126142590569,-1.923316016424626]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.6164632954631567,0.24212801647091586,0.71338606911949],"aabb_xy":[[-0.6614558821816071,0.19712801719646705],[-0.5714707087447063,0.28712801574536456]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[-0.40768730444399104,1.4866201414658557,0.71338606911949],"aabb_xy":[[-0.42518730468904037,1.469120353626289],[-0.3901873041989416,1.5041199293054226]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.2231883239594154,-0.3740541600514926,0.71338606911949],"aabb_xy":[[-0.2871883256374127,-0.42257155153080683],[-0.15918832228141802,-0.3255367685721784]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[-0.47087158482416713,1.2016201501734707,0.71338606911949],"aabb_xy":[[-0.4758276050090484,1.1791201499713493],[-0.4659155646392861,1.2241201503755925]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.4889333501938015,1.6279704436099283,0.71338606911949],"aabb_xy":[[-0.5141541870536412,1.602746692757041],[-0.46371251333396185,1.6531941944628146]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.23121114681263893,-1.1893830127307206,0.71338606911949],"aabb_xy":[[-0.243143881174467,-1.2017651655385801],[-0.21927841245081087,-1.1770008599228614]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[0.4401236892635856,-1.5285116702065742,0.71338606911949],"aabb_xy":[[0.4156100651665797,-1.5527762635086109],[0.46463731336059144,-1.504247076904538]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[0.49458597767889123,-2.2506256227411408,0.71338606911949],"aabb_xy":[[0.434585977082875,-2.3054380952863647],[0.5545859782749074,-2.1958131501959177]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[-0.22946798310650995,-1.6789060165961365,0.71338606911949],"aabb_xy":[[-0.2395496901850834,-1.758906014488251],[-0.21938627602793645,-1.5989060187040216]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.27734662800062165,1.304568477626193,0.71338606911949],"aabb_xy":[[-0.3673466247362318,1.2513850143088983],[-0.1873466312650114,1.3577519409434873]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[0.2056131751296152,-2.439615821368563,0.71338606911949],"aabb_xy":[[0.1837234275406744,-2.529615818657812],[0.227502922718556,-2.3496158240793137]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[0.6581688771525833,-0.6890453203937914,0.71338606911949],"aabb_xy":[[0.6246897098915424,-0.7225244337648984],[0.6916480444136243,-0.6555662070226844]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[-0.12971407778589983,-0.6870644655515321,0.71338606911949],"aabb_xy":[[-0.1847072891230366,-0.7420644658903257],[-0.07472086644876309,-0.6320644652127385]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.583768983074447,-2.524216527686899,0.71338606911949],"aabb_xy":[[0.5533708719753033,-2.554623429688568],[0.6141670941735905,-2.493809625685229]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[0.1302522755308606,1.1120773305045555,0.71338606911949],"aabb_xy":[[0.12090526794856538,1.0977737082869115],[0.13959928311315584,1.1263809527221995]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.06518312796332293,1.181414765293304,0.71338606911949],"aabb_xy":[[-0.12918313001305493,1.141320282203996],[-0.001183125913590946,1.221509248382612]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.3250234389808486,-2.512876100319999,0.71338606911949],"aabb_xy":[[-0.3574851398627759,-2.543008932434901],[-0.292561738098921,-2.482743268205095]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[0.21308656628378564,1.7997906550256864,0.71338606911949],"aabb_xy":[[0.19985562074910432,1.7865632360036867],[0.2263175118184669,1.8130180740476856]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[-0.18027480076717928,0.25530818983418646,0.71338606911949],"aabb_xy":[[-0.2114217196107624,0.1853081911473793],[-0.14912788192359616,0.32530818852099364]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[-0.42557956975949596,0.5425310514786719,0.71338606911949],"aabb_xy":[[-0.4855795702673488,0.4856843177927505],[-0.365579569251643,0.5993777851645931]]}],"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":0.6901240324192076,"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/8677.png","name":"8677"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8677.png","name":"8677"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3534.png","name":"3534"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4021.png","name":"4021"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1987.png","name":"1987"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5406.png","name":"5406"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":811.9941753556822,"rotation_z_degrees":315.81919504401674,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010641949265866205,-0.009998954808288128,-0.009061943441698013]},{"name":"camera_2","offset_m":[-0.011037367491187729,-0.012471984903578912,0.01949885088796725]},{"name":"camera_3","offset_m":[0.016096993936406265,0.00027802323804723694,0.00521230011358317]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00017880046121017922,0.0006473461264883632,0.0003746708195904139],"end_effector_yaw_offset_degrees":-0.007744783516901554},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018304795593595295,-0.0001706242638379663,-0.000574917717899555],"end_effector_yaw_offset_degrees":-0.5984484871241873},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00011473507092179223,-0.0011377330844744133,-0.0002838295438248317],"end_effector_yaw_offset_degrees":-0.859295474040283}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005616139774040681,0.003521610085077758],"position_m":[0.2960383860225959,0.36892161008507773,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004727518858519004,-0.0038845348145356753],"position_m":[0.265972481141481,-0.3595845348145357,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013912470233436638,-0.0013861360677834243],"position_m":[0.34230875297665636,0.2637138639322166,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00047179667007993687,0.0021122709863618735],"position_m":[0.31347179667007996,0.06541227098636188,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0090c28f23566a8e9445ce3b28bbecaa956f4c57d0af7b8a6ad290a70d5838b","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0091.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8677/tex_ceiling_textures_5406/tex_floor_textures_1987/tex_table_textures_3534/tex_wall_textures_4021","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6249737095079745866,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6249737095079745866,"visual_seed":6249737095079745866,"scene_id":"lab_003","finished_at":"2026-09-04T20:17:30"} +{"episode_id":"ep_000092","started_at":"2026-09-04T20:17:33","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.630769557917745,-0.2531898367829504,0.71338606911949],"aabb_xy":[[-0.6532695581612604,-0.2653944714427224],[-0.6082695576742296,-0.24098520212317848]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.530547266506987,-0.6113109619396426,0.71338606911949],"aabb_xy":[[-0.6005472698985488,-0.6466267356430734],[-0.4605472631154249,-0.5759951882362117]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[-0.28516100968433167,-0.9008756983343265,0.71338606911949],"aabb_xy":[[-0.3491610110923223,-0.9526646498582512],[-0.22116100827634097,-0.8490867468104017]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.3267675214703307,-2.437302048410826,0.71338606911949],"aabb_xy":[[0.3190643307962536,-2.4450114191095635],[0.3344707121444077,-2.4295926777120873]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[-0.5010011427030887,1.4170521548519681,0.71338606911949],"aabb_xy":[[-0.5235011432151292,1.3945602964865695],[-0.478501142191048,1.4395440132173662]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[0.205625399575457,1.5643513584391084,0.71338606911949],"aabb_xy":[[0.1681253980598253,1.5531245854229634],[0.2431254010910887,1.5755781314552535]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.17746953176229374,-0.5655168019432697,0.71338606911949],"aabb_xy":[[-0.2674695340963128,-0.6429991565283824],[-0.08746952942827471,-0.48803444735815704]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[0.5427571876943795,1.1551752875578751,0.71338606911949],"aabb_xy":[[0.5345426425786953,1.1464986972602333],[0.5509717328100633,1.163851877855516]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.04257711245543283,-1.885541169610897,0.71338606911949],"aabb_xy":[[0.02346480509745396,-1.9046759484881388],[0.06168941981341169,-1.8664063907336548]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.47614655122438587,0.42192128105037163,0.71338606911949],"aabb_xy":[[0.4266661300104271,0.35792128313751986],[0.5256269724383447,0.4859212789632235]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.648775348471037,-0.19420734528854222,0.71338606911949],"aabb_xy":[[0.6312286535549181,-0.23170734685279346],[0.666322043387156,-0.15670734372429093]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.021585936951437734,-0.8225786256002494,0.71338606911949],"aabb_xy":[[-0.05908593761601643,-0.8382656836004715],[0.015914063713140966,-0.8068915676000271]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[-0.08837428219589161,-1.029226136021536,0.71338606911949],"aabb_xy":[[-0.1433480042322245,-1.0842261355857692],[-0.03340056015955874,-0.9742261364573028]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.3354828117593231,-1.182745635995556,0.71338606911949],"aabb_xy":[[-0.34179491129566153,-1.1885125752487748],[-0.32917071222298466,-1.176978696742337]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.1271233024520193,-1.8780574693984966,0.71338606911949],"aabb_xy":[[-0.2071233046147818,-1.95801265302464],[-0.04712330028925682,-1.7981022857723528]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[0.5303487046208808,-0.34721804443107196,0.71338606911949],"aabb_xy":[[0.5248907589838606,-0.427218047738731],[0.5358066502579008,-0.2672180411234128]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.2579537822340466,1.5427003894642568,0.71338606911949],"aabb_xy":[[-0.33795378549188954,1.4627038816722728],[-0.17795377897620362,1.6226968972562408]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.5150532879310852,-0.8493622356712003,0.71338606911949],"aabb_xy":[[0.49258851795968006,-0.8718622365500608],[0.5375180579024903,-0.8268622347923398]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.03723461951209661,-0.6423516548666253,0.71338606911949],"aabb_xy":[[0.03126808057136082,-0.6483127995259892],[0.0432011584528324,-0.6363905102072611]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.3979128853156397,-1.0321771873863488,0.71338606911949],"aabb_xy":[[-0.405156651361885,-1.112177185589951],[-0.39066911926939435,-0.9521771891827462]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[0.4153271987016074,1.2352281929197981,0.71338606911949],"aabb_xy":[[0.3778272001259866,1.2224918972562402],[0.4528271972772282,1.247964488583356]]}],"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":0.688020433800639,"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/7787.png","name":"7787"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7787.png","name":"7787"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4873.png","name":"4873"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5504.png","name":"5504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1626.png","name":"1626"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6379.png","name":"6379"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":621.8721500563954,"rotation_z_degrees":183.90543269457464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001319087554463444,0.011203984565008963,0.012842360602096679]},{"name":"camera_2","offset_m":[-0.019961685855800628,-0.0007545469406229459,0.0019254234872872512]},{"name":"camera_3","offset_m":[0.005564765879218281,0.013048238321243823,0.015514359007513686]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018269976248234876,-0.00025581795743988734,0.0018561189848814112],"end_effector_yaw_offset_degrees":0.6811793437193892},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004008820829790923,8.260632301835885e-05,-0.00022171060163040128],"end_effector_yaw_offset_degrees":0.24510995547431436},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015464973001619216,0.001351083623470732,0.0013351785069800805],"end_effector_yaw_offset_degrees":-0.8372667643823211}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004637797750975738,0.0008838247391892828],"position_m":[0.3012377977509757,0.3662838247391893,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034947145572987283,0.0022198507405582794],"position_m":[0.2672052854427013,-0.3534801492594417,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007371383578703202,0.00031135467847924307],"position_m":[0.3429628616421297,0.26541135467847926,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002184022706318581,-0.0025133721913222487],"position_m":[0.31081597729368143,0.060786627808677746,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f9e2f329044890e31ae7bdf6cc892cedc6b86a3e585edc9a4e3b826d229ed4f6","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7787/tex_ceiling_textures_6379/tex_floor_textures_1626/tex_table_textures_4873/tex_wall_textures_5504","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":3641782853454325003,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":3641782853454325003,"visual_seed":3641782853454325003,"scene_id":"lab_003","finished_at":"2026-09-04T20:21:09"} +{"episode_id":"ep_000093","started_at":"2026-09-04T20:21:13","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.6426906249275708,-0.9002279275731278,0.71338606911949],"aabb_xy":[[-0.6491922614355755,-0.9099957495994377],[-0.6361889884195663,-0.8904601055468182]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[-0.5126273787778024,-2.248020538456507,0.71338606911949],"aabb_xy":[[-0.548256534677762,-2.28365320521336],[-0.47699822287784255,-2.212387871699654]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.579168387376014,-1.139839463247406,0.71338606911949],"aabb_xy":[[-0.6341683865526033,-1.1948291380223635],[-0.5241683881994244,-1.0848497884724482]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[-0.5248055477550451,1.7755606369725787,0.71338606911949],"aabb_xy":[[-0.5406900410203702,1.7612076966737547],[-0.5089210544897199,1.7899135772714028]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.5841478435127163,1.4229947841341395,0.71338606911949],"aabb_xy":[[-0.6186103215258041,1.4163311069512166],[-0.5496853654996285,1.429658461317062]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.21794173993852484,-1.7524486429247639,0.71338606911949],"aabb_xy":[[-0.22425383947486327,-1.758215582177983],[-0.2116296404021864,-1.7466817036715452]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[-0.4653503755895718,0.7137617456869982,0.71338606911949],"aabb_xy":[[-0.5075347897504026,0.6497617454097872],[-0.4231659614287411,0.7777617459642095]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[-0.19393492586169558,0.40130245031255996,0.71338606911949],"aabb_xy":[[-0.25793492225726866,0.3373391618938264],[-0.1299349294661225,0.4652657387312935]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.5510904459954373,1.0405318501217593,0.71338606911949],"aabb_xy":[[-0.6160904445525102,1.0107793167078765],[-0.4860904474383645,1.0702843835356417]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[-0.42530673242756517,-2.3821235241420524,0.71338606911949],"aabb_xy":[[-0.4628067325331581,-2.3889456859950338],[-0.3878067323219722,-2.375301362289071]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.5971604446122668,-1.9269973463111345,0.71338606911949],"aabb_xy":[[-0.6471378614775203,-1.976997347800383],[-0.5471830277470131,-1.876997344821886]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[0.5780846291510429,-2.224028839888267,0.71338606911949],"aabb_xy":[[0.5530846292185251,-2.23091150810919],[0.6030846290835609,-2.217146171667344]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.2551882208325617,0.6343012741620839,0.71338606911949],"aabb_xy":[[-0.305188221851697,0.597835058424256],[-0.20518821981342644,0.6707674898999119]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[0.3957647353683109,-0.6227312547755248,0.71338606911949],"aabb_xy":[[0.31576473211046796,-0.7027277625675088],[0.47576473862615387,-0.5427347469835408]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[0.4912825344632843,-0.7890555434627993,0.71338606911949],"aabb_xy":[[0.41128253730370895,-0.8006031444206163],[0.5712825316228596,-0.7775079425049822]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.40991476403901866,1.4486302466685843,0.71338606911949],"aabb_xy":[[-0.49991476771593674,1.3871978400914795],[-0.3199147603621004,1.510062653245688]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[0.25755982467003624,-0.9552600230587609,0.71338606911949],"aabb_xy":[[0.22378426547934327,-0.9692985182719258],[0.2913353838607292,-0.9412215278455958]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.2825127319325845,-1.7531756082538839,0.71338606911949],"aabb_xy":[[0.2575127326606222,-1.769520971850046],[0.30751273120454675,-1.7368302446577213]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.34082900996198795,-1.1867112536937061,0.71338606911949],"aabb_xy":[[0.33107302045281395,-1.1964737877529406],[0.35058499947116173,-1.1769487196344717]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[0.7009386039108569,0.644180803726361,0.71338606911949],"aabb_xy":[[0.690098125684342,0.6269945224357122],[0.7117790821373718,0.6613670850170098]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.3837226279645459,-0.9297899116975237,0.71338606911949],"aabb_xy":[[-0.4287226294307749,-0.9747897685590043],[-0.33872262649831714,-0.884790054836043]]}],"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":0.6932206174689899,"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/5086.png","name":"5086"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5086.png","name":"5086"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2917.png","name":"2917"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7020.png","name":"7020"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/922.png","name":"922"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3795.png","name":"3795"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":818.9018586697706,"rotation_z_degrees":305.96864479462215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01517723367959138,-0.0023645946312987297,-0.017871337363556564]},{"name":"camera_2","offset_m":[-0.007052179962848579,-0.015620053064866744,-0.019361596688942863]},{"name":"camera_3","offset_m":[-0.009466323552256224,-0.005714825394483602,0.014105026170559986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017363200675193802,0.0010221763776750757,0.001637124755161487],"end_effector_yaw_offset_degrees":0.012188240102159797},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012430979367149767,0.0015494364188708186,0.0015781764331986225],"end_effector_yaw_offset_degrees":-0.5786631022641349},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009083240027597051,0.0005625049889613322,0.000786086461288945],"end_effector_yaw_offset_degrees":-0.2917995342454356}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017033990453599536,0.003637631839983185],"position_m":[0.29489660095464004,0.36903763183998317,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004761278948683268,-0.0012696970237583184],"position_m":[0.27117612789486834,-0.35696969702375836,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004859900211927633,0.001971165161119435],"position_m":[0.3485599002119276,0.26707116516111945,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006870079545151639,-0.0016516989212091993],"position_m":[0.31368700795451515,0.061648301078790796,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dcebc2e2674fc35fdc6904f05b24a9fe9b1b23dc44ccf090859d6e650871ba29","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5086/tex_ceiling_textures_3795/tex_floor_textures_922/tex_table_textures_2917/tex_wall_textures_7020","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2419291120257749373,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2419291120257749373,"visual_seed":2419291120257749373,"scene_id":"lab_003","finished_at":"2026-09-04T20:24:26"} +{"episode_id":"ep_000094","started_at":"2026-09-04T20:24:30","dimensions":{"distractor":{"count":22,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.0815543008568661,-1.1017924895731215,0.71338606911949],"aabb_xy":[[-0.0865103210417473,-1.1242924897752433],[-0.0765982806719849,-1.079292489371]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[0.19064473492656087,0.6335039664702333,0.71338606911949],"aabb_xy":[[0.15716556766551995,0.6000248530991265],[0.22412390218760184,0.6669830798413404]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[-0.6755989485638734,0.6712967673679104,0.71338606911949],"aabb_xy":[[-0.6828601961342808,0.6585097571044011],[-0.6683377009934659,0.68408377763142]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.16210407139441896,-1.3631086627966036,0.71338606911949],"aabb_xy":[[-0.21710406959616377,-1.4036306294230412],[-0.1071040731926741,-1.322586696170166]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[-0.24603968377461066,0.22807738104123176,0.71338606911949],"aabb_xy":[[-0.25760866452154724,0.20307738092430008],[-0.2344707030276741,0.2530773811581635]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.1218930553169223,1.5715631255672595,0.71338606911949],"aabb_xy":[[0.07661444043577303,1.5075631262190758],[0.16717167019807155,1.6355631249154432]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[0.48426399838250367,-2.4383655897914607,0.71338606911949],"aabb_xy":[[0.4762377277518777,-2.4471170847688137],[0.4922902690131297,-2.4296140948141085]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.14643405773937157,0.35278971078711807,0.71338606911949],"aabb_xy":[[-0.1820632136393313,0.3171570440302651],[-0.11080490183941183,0.388422377543971]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.5506032863692292,-0.5017657801235278,0.71338606911949],"aabb_xy":[[0.4856032884875815,-0.5528894438300688],[0.6156032842508771,-0.45064211641698704]]},{"name":"lh_cell_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_9","position":[0.34259093721635403,1.5078902565809984,0.71338606911949],"aabb_xy":[[0.27859093651288475,1.4618718741080774],[0.4065909379198235,1.5539086390539196]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.06992727903799989,1.0115556361686195,0.71338606911949],"aabb_xy":[[0.028678468008085153,0.956555636656402],[0.11117609006791461,1.0665556356808368]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.5921993697503086,-1.9714435111229718,0.71338606911949],"aabb_xy":[[-0.6039675565449663,-2.0564435110281933],[-0.5804311829556512,-1.8864435112177502]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.291007124339258,-2.5061537175344606,0.71338606911949],"aabb_xy":[[0.24824041745983788,-2.5701537209562635],[0.33377383121867826,-2.4421537141126586]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.5969029470601862,0.008237951040714009,0.71338606911949],"aabb_xy":[[-0.6609029434875082,-0.03893167278138243],[-0.5329029506328644,0.05540757486281045]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[0.4705366408184679,-1.8684669471016275,0.71338606911949],"aabb_xy":[[0.4586645578069668,-1.9534669467952779],[0.482408723829969,-1.7834669474079772]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[-0.5056751764147406,0.6692647451186597,0.71338606911949],"aabb_xy":[[-0.5556701873741927,0.619264746083068],[-0.45568016545528867,0.7192647441542515]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.34338616606645755,1.0234366226800855,0.71338606911949],"aabb_xy":[[-0.37988198669373624,0.9869526802533277],[-0.30689034543917876,1.0599205651068428]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.16381682247834206,-2.219653547423918,0.71338606911949],"aabb_xy":[[-0.17085713241187908,-2.2996535468235897],[-0.1567765125448051,-2.139653548024247]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.48429466231854806,-1.1959326909095012,0.71338606911949],"aabb_xy":[[-0.5342946636794352,-1.2459105954849168],[-0.43429466095766084,-1.1459547863340855]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[0.02677803610805818,-2.2424534102362896,0.71338606911949],"aabb_xy":[[0.020465936571719745,-2.2482203494895083],[0.03309013564439661,-2.236686470983071]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.5787986862620977,-0.33265767476054586,0.71338606911949],"aabb_xy":[[0.530992518648329,-0.39765767746760483],[0.6266048538758663,-0.26765767205348695]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[0.009426258382766672,-1.86670706497558,0.71338606911949],"aabb_xy":[[-0.0605737450087953,-1.9020228386790106],[0.07942626177432864,-1.8313912912721488]]}],"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":0.6939831040775024,"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/9796.png","name":"9796"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9796.png","name":"9796"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6282.png","name":"6282"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9290.png","name":"9290"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1879.png","name":"1879"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3322.png","name":"3322"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":797.8044827071928,"rotation_z_degrees":344.85485120026317,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007859968806989479,0.007435082482326202,0.018582668773861086]},{"name":"camera_2","offset_m":[0.009002597360472448,0.01705984957017583,0.01371139025895474]},{"name":"camera_3","offset_m":[-0.01772384406562742,0.008270746524130339,0.00827889789223479]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001543144497680234,-0.0017262081199005564,0.001697448812970256],"end_effector_yaw_offset_degrees":0.8090790162571988},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016774418709277397,-0.0002880537453392234,-0.0005628014578519468],"end_effector_yaw_offset_degrees":0.9958879512980396},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007948828606748734,0.0015222792690588226,0.0005765757619269076],"end_effector_yaw_offset_degrees":-0.25755899631970824}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031846356471197943,-0.0009272570231425633],"position_m":[0.2934153643528802,0.36447274297685744,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002686915951313813,0.0009426803559796611],"position_m":[0.2733869159513138,-0.35475731964402035,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[4.098985954585719e-05,-0.0020988681746761306],"position_m":[0.3437409898595459,0.26300113182532386,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007825534308289204,-0.0012024650625299762],"position_m":[0.31378255343082895,0.06209753493747002,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e1fe09aa6ae987b7693ec4a358cf703aa047a2bbec939bb5e1ca2d844b1a23c9","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9796/tex_ceiling_textures_3322/tex_floor_textures_1879/tex_table_textures_6282/tex_wall_textures_9290","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8883753639877681568,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8883753639877681568,"visual_seed":8883753639877681568,"scene_id":"lab_003","finished_at":"2026-09-04T20:28:09"} +{"episode_id":"ep_000095","started_at":"2026-09-04T20:28:12","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[0.027673651695372392,1.1059491843628608,0.71338606911949],"aabb_xy":[[-0.036326344700200686,1.0419858959441273],[0.09167364809094547,1.1699124727815944]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[0.12272461362062648,-1.4780113220003828,0.71338606911949],"aabb_xy":[[0.042724616217033044,-1.5580038931985654],[0.20272461102421988,-1.3980187508021997]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.44815093591859245,0.6817440954420158,0.71338606911949],"aabb_xy":[[-0.5131509368757197,0.6297958835083101],[-0.38315093496146524,0.7336923073757212]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[-0.18036425997622463,-1.5957211816826584,0.71338606911949],"aabb_xy":[[-0.2303642609267574,-1.6272703286861796],[-0.1303642590256918,-1.5641720346791368]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[-0.3670112193304479,1.2343067354159691,0.71338606911949],"aabb_xy":[[-0.42701122019126064,1.1828803054094823],[-0.307011218469635,1.285733165422455]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[0.2504623138741323,1.3960248881356243,0.71338606911949],"aabb_xy":[[0.21313103734888975,1.361371833340772],[0.28779359039937497,1.4306779429304766]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.6012840260272585,-0.35463491117135604,0.71338606911949],"aabb_xy":[[-0.6121245042537733,-0.3718211924620048],[-0.5904435478007435,-0.3374486298807072]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.3328961284742377,-0.7961489986357846,0.71338606911949],"aabb_xy":[[-0.34482886283606573,-0.8085311514436438],[-0.3209633941124096,-0.7837668458279251]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.10017695425467865,-1.6904541653255223,0.71338606911949],"aabb_xy":[[-0.11533982723161576,-1.7056196226206415],[-0.08501408127774158,-1.675288708030404]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[0.1859689955411652,1.6546197290146751,0.71338606911949],"aabb_xy":[[0.17555743686068148,1.6492739956787767],[0.1963805542216489,1.6599654623505735]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[0.18243516402824722,1.2199715003153546,0.71338606911949],"aabb_xy":[[0.14558461609125958,1.1824714994923207],[0.2192857119652348,1.2574715011383881]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.006220366981666059,-1.6629778171066831,0.71338606911949],"aabb_xy":[[-0.012532466518004493,-1.668744756359902],[9.173255467237375e-05,-1.6572108778534642]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[0.08662928431038008,-1.1109317550132374,0.71338606911949],"aabb_xy":[[0.022629281091742226,-1.1576548669122457],[0.15062928752901794,-1.064208643114229]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.4331371440216995,0.3903498498749567,0.71338606911949],"aabb_xy":[[-0.488137143198289,0.33536017509999905],[-0.37813714484511,0.44533952464991433]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.0720339611454941,-2.149147850867816,0.71338606911949],"aabb_xy":[[0.03453396120172769,-2.1574409409026525],[0.1095339610892605,-2.1408547608329793]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[0.48677612343503873,-2.510240841738545,0.71338606911949],"aabb_xy":[[0.4492761236180052,-2.5148790530496865],[0.5242761232520723,-2.505602630427403]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.517752075575565,-1.563426292104933,0.71338606911949],"aabb_xy":[[-0.535298770491684,-1.600926293669184],[-0.5002053806594461,-1.5259262905406814]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[-0.43796545497054806,-2.1079380850368223,0.71338606911949],"aabb_xy":[[-0.45059224225774436,-2.117484158738395],[-0.42533866768335166,-2.0983920113352497]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[-0.5658993699187633,0.5224815267529852,0.71338606911949],"aabb_xy":[[-0.5771444254893812,0.5112397290288898],[-0.5546543143481455,0.5337233244770804]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.5965934971132134,0.9842738299997378,0.71338606911949],"aabb_xy":[[-0.660593498521204,0.9324848784758129],[-0.5325934957052226,1.036062781523662]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.5558027997654966,0.07351069400431909,0.71338606911949],"aabb_xy":[[0.5477765291348706,0.06475919902696647],[0.5638290703961226,0.0822621889816717]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.48177548358367184,-0.575070280492131,0.71338606911949],"aabb_xy":[[-0.561775485013799,-0.6545874355047405],[-0.4017754821535446,-0.4955531254795216]]}],"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":0.6881776681895093,"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/5107.png","name":"5107"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5107.png","name":"5107"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2084.png","name":"2084"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3427.png","name":"3427"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6448.png","name":"6448"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4165.png","name":"4165"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":624.5875534769912,"rotation_z_degrees":33.163633842453436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01380930503739604,-0.010535060279956215,0.008643445123504484]},{"name":"camera_2","offset_m":[-0.0005852835814525968,0.011826324301675049,-0.0174396209136344]},{"name":"camera_3","offset_m":[0.0028509879863273246,-0.0042947873655811986,-0.006261525171790324]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001001514875348782,-0.0006343183905232466,-0.0008503343436492231],"end_effector_yaw_offset_degrees":-0.14354595938556614},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00011547907391208645,-0.00024951983826535656,-0.0018150298765539663],"end_effector_yaw_offset_degrees":0.910623481300971},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007480277808941407,-0.0003388907179036366,0.0009475327453251801],"end_effector_yaw_offset_degrees":0.7263065041239296}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004047838600831479,0.003970634475401645],"position_m":[0.30064783860083144,0.36937063447540164,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004495259348772255,0.00024992986721157715],"position_m":[0.26620474065122773,-0.35545007013278845,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031591958679826936,-0.0003653842374220619],"position_m":[0.3468591958679827,0.26473461576257795,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000649517388194517,0.0035182972084288134],"position_m":[0.3136495173881945,0.06681829720842881,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0bfb48e43ccc2870261aa2a8111c7d8eae36821b213c018a69b528f1019e2699","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5107/tex_ceiling_textures_4165/tex_floor_textures_6448/tex_table_textures_2084/tex_wall_textures_3427","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5672156776406510540,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5672156776406510540,"visual_seed":5672156776406510540,"scene_id":"lab_003","finished_at":"2026-09-04T20:31:09"} +{"episode_id":"ep_000096","started_at":"2026-09-04T20:31:12","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[-0.19988837113529334,-0.3234830275428995,0.71338606911949],"aabb_xy":[[-0.23738837148352107,-0.335274423123983],[-0.16238837078706556,-0.3116916319618159]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[-0.42876907793218305,-0.49772154763525345,0.71338606911949],"aabb_xy":[[-0.4322097541722403,-0.501582980609618],[-0.42532840169212593,-0.4938601146608891]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.4514521447067952,0.6075556434433835,0.71338606911949],"aabb_xy":[[-0.5414521444299693,0.5844822909082036],[-0.36145214498362094,0.6306289959785633]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.48681257669406036,1.4149223030942522,0.71338606911949],"aabb_xy":[[-0.528996990854891,1.350922302817041],[-0.4446281625332296,1.4789223033714634]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.5161811182959888,0.07387416677804204,0.71338606911949],"aabb_xy":[[-0.5364654210193874,0.05359154163533319],[-0.49589681557258997,0.09415679192075087]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[0.11134520315922525,-1.6712503645850276,0.71338606911949],"aabb_xy":[[0.10588725752220517,-1.7512503678926867],[0.1168031487962453,-1.5912503612773685]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.3076723064093341,-2.482772198611001,0.71338606911949],"aabb_xy":[[-0.3716723037116805,-2.5271386255788575],[-0.24367230910698767,-2.438405771643144]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.009708469512908713,1.66623951170225,0.71338606911949],"aabb_xy":[[-0.002224264848919355,1.6538573588943906],[0.02164120387473678,1.6786216645101093]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[0.26999366263860014,0.7724602165805412,0.71338606911949],"aabb_xy":[[0.21989619865752652,0.7084602160707294],[0.32009112661967376,0.836460217090353]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[-0.3149840281906294,-0.3129343415855552,0.71338606911949],"aabb_xy":[[-0.3226872188647064,-0.3206437122842932],[-0.30728083751655233,-0.3052249708868172]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[0.3575511424734361,1.510294425707809,0.71338606911949],"aabb_xy":[[0.2935511410654454,1.4585054741838843],[0.4215511438814267,1.5620833772317337]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[-0.1485038578027742,1.5195848608661735,0.71338606911949],"aabb_xy":[[-0.19847715180603462,1.4695848603116262],[-0.09853056379951372,1.5695848614207208]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[-0.14775783720123337,1.283611401975857,0.71338606911949],"aabb_xy":[[-0.18275783633118903,1.277866180900193],[-0.1127578380712777,1.2893566230515212]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[-0.2654355477874641,-0.464501491543285,0.71338606911949],"aabb_xy":[[-0.3154355494489588,-0.5144999337989876],[-0.2154355461259693,-0.41450304928758225]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.6205096613454314,-2.037231105407347,0.71338606911949],"aabb_xy":[[-0.6705096607856269,-2.0871990298916634],[-0.5705096619052357,-1.9872631809230308]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[0.05130199209231956,1.463979790765015,0.71338606911949],"aabb_xy":[[-0.0036912192448171977,1.4089797904262213],[0.10629520342945634,1.5189797911038088]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[0.4297882317987731,-0.7022410509292176,0.71338606911949],"aabb_xy":[[0.3497882347845252,-0.7223756026026288],[0.5097882288130211,-0.6821064992558062]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.11458158922598982,1.1870846529895087,0.71338606911949],"aabb_xy":[[-0.19458158788287583,1.1725797940652458],[-0.03458159056910383,1.2015895119137716]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[0.339468172057638,-1.6629169772079604,0.71338606911949],"aabb_xy":[[0.3262372265229567,-1.6761443962299594],[0.3526991175923193,-1.6496895581859605]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.43761657484373595,0.43875589737910703,0.71338606911949],"aabb_xy":[[-0.5016165780623738,0.3920327854800987],[-0.3736165716250981,0.4854790092781154]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.35776185042916314,-2.2321904483153947,0.71338606911949],"aabb_xy":[[-0.3746725828655048,-2.245662653908009],[-0.34085111799282125,-2.2187182427227796]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.5002117094637586,-1.1049538022486087,0.71338606911949],"aabb_xy":[[0.4452117112620137,-1.145475768875046],[0.5552117076655033,-1.064431835622171]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.15041814650934193,-1.7765389816390278,0.71338606911949],"aabb_xy":[[-0.21041814815226378,-1.8285391309309722],[-0.09041814486642008,-1.7245388323470838]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.7037259983805872,-0.7276374087117492,0.71338606911949],"aabb_xy":[[0.6870488623874919,-0.7443373326856794],[0.7204031343736829,-0.7109374847378188]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[-0.6079813137622172,0.9783406074654986,0.71338606911949],"aabb_xy":[[-0.6205840128992938,0.9657452112406331],[-0.5953786146251409,0.990936003690364]]}],"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":0.6870799883620139,"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/5040.png","name":"5040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5040.png","name":"5040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5581.png","name":"5581"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1800.png","name":"1800"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3721.png","name":"3721"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/161.png","name":"161"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":771.2098839141076,"rotation_z_degrees":293.7951137550753,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016566577025207883,-0.015116680642989468,-0.013730263097320533]},{"name":"camera_2","offset_m":[0.007461007537432205,-0.008080846365747463,-0.017827726266058386]},{"name":"camera_3","offset_m":[-0.0037168896952168747,0.016205114234682145,0.008572952946101494]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004382381515132482,-0.0011330018552898223,0.001469126264248387],"end_effector_yaw_offset_degrees":-0.33417756652205255},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00048309037740866013,0.0017470276023804614,-0.00042607451921692924],"end_effector_yaw_offset_degrees":0.3666149622040209},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010110736488546618,0.00046960525375118294,-0.0018555787593238487],"end_effector_yaw_offset_degrees":0.9108398440792151}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016695582929517252,-0.0018222498321784353],"position_m":[0.29493044170704824,0.36357775016782157,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004643793437053142,0.0021321560824121262],"position_m":[0.2660562065629469,-0.3535678439175879,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004217547742977065,-0.002411812150962305],"position_m":[0.34791754774297706,0.2626881878490377,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027992386120594057,0.003010246473516693],"position_m":[0.3157992386120594,0.06631024647351669,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f03d73cb633c27cfec8b000d60a45f4ffbbc6a1f5229c11bb282a58f5ad507a1","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0096.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5040/tex_ceiling_textures_161/tex_floor_textures_3721/tex_table_textures_5581/tex_wall_textures_1800","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2347434567897890342,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2347434567897890342,"visual_seed":2347434567897890342,"scene_id":"lab_003","finished_at":"2026-09-04T20:34:02"} +{"episode_id":"ep_000097","started_at":"2026-09-04T20:34:06","dimensions":{"distractor":{"count":26,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[0.5278660010169389,-0.5096973600161867,0.71338606911949],"aabb_xy":[[0.5206222349706936,-0.5896973582197891],[0.5351097670631842,-0.42969736181258433]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.5705413959024657,-0.8251869499343467,0.71338606911949],"aabb_xy":[[0.5632590795258018,-0.9151869535438555],[0.5778237122791291,-0.7351869463248375]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.20848573167089246,1.2962103064048849,0.71338606911949],"aabb_xy":[[0.1709857332474921,1.283046092437054],[0.2459857300942928,1.3093745203727154]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.6201322921100447,-1.1225286788267355,0.71338606911949],"aabb_xy":[[0.5601322922634779,-1.1793473010197741],[0.6801322919566115,-1.0657100566336968]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.287644331948691,1.438283239411502,0.71338606911949],"aabb_xy":[[-0.2949055795190984,1.4254962291479927],[-0.2803830843782836,1.4510702496750116]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[0.10303641435720223,-2.0857250317387903,0.71338606911949],"aabb_xy":[[0.08980546882252093,-2.0989524507607897],[0.11626735989188351,-2.072497612716791]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[-0.5710176539242815,-2.270161954637371,0.71338606911949],"aabb_xy":[[-0.6066468098242412,-2.3057946213942238],[-0.5353884980243218,-2.234529287880518]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[0.0068009328332906405,-1.2600953463613993,0.71338606911949],"aabb_xy":[[-0.07319906582359537,-1.2746002052856622],[0.08680093149017665,-1.2455904874371364]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[-0.25464502695512375,-0.5463406742418173,0.71338606911949],"aabb_xy":[[-0.2715557593914655,-0.5598128798344318],[-0.23773429451878195,-0.5328684686492028]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[0.15230556017568264,0.998634059926395,0.71338606911949],"aabb_xy":[[0.08830556287333621,0.9542676329585382],[0.21630555747802901,1.0430004868942517]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.25166862338037876,0.5673196779937695,0.71338606911949],"aabb_xy":[[-0.31566862505837606,0.5188022865144551],[-0.18766862170238136,0.6158370694730836]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[0.7028983976712404,-2.43240709935857,0.71338606911949],"aabb_xy":[[0.6941844286213058,-2.454907100017757],[0.7116123667211748,-2.4099070986993807]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[0.012404430783620413,-1.9242573011417525,0.71338606911949],"aabb_xy":[[0.0022514152294710334,-1.9603268427144926],[0.022557446337769793,-1.888187759569012]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.08672372160558073,1.6734694972603914,0.71338606911949],"aabb_xy":[[0.08280984841015819,1.6647204818538348],[0.09063759480100324,1.6822185126669484]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[0.1876674973479272,-0.6635046455677136,0.71338606911949],"aabb_xy":[[0.16408237388403235,-0.7285046478131454],[0.21125262081182206,-0.5985046433222818]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.055077649342317736,-1.0228137744391907,0.71338606911949],"aabb_xy":[[0.005194952464621532,-1.0728137736854657],[0.10496034622001396,-0.9728137751929162]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[-0.23001792023811157,-1.1322247851606906,0.71338606911949],"aabb_xy":[[-0.26681255336301785,-1.1691306602572729],[-0.1932232871132053,-1.0953189100641083]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[-0.5733280416351016,-1.8456032111865721,0.71338606911949],"aabb_xy":[[-0.5996168659555421,-1.8718746448412231],[-0.5470392173146608,-1.8193317775319207]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.23680928622055003,-2.241916982276301,0.71338606911949],"aabb_xy":[[-0.316809286494157,-2.3148665301020177],[-0.15680928594694307,-2.1689674344505843]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[-0.39860045431415553,1.0867265680425056,0.71338606911949],"aabb_xy":[[-0.47860045171774895,1.0067339968443227],[-0.3186004569105621,1.1667191392406884]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[-0.5826760169619568,0.45415718899589397,0.71338606911949],"aabb_xy":[[-0.6376497389982897,0.3991571894316608],[-0.5277022949256239,0.5091571885601271]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.578953523083788,-1.0603933130032013,0.71338606911949],"aabb_xy":[[-0.6429535201958938,-1.109425682797612],[-0.5149535259716824,-1.0113609432087907]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.4553883102926308,-1.4917631677840255,0.71338606911949],"aabb_xy":[[0.3913883117060583,-1.5387701311835342],[0.5193883088792033,-1.4447562043845168]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_23","position":[-0.5565909112635545,-1.724602340952699,0.71338606911949],"aabb_xy":[[-0.5647185994568678,-1.7335159493634067],[-0.5484632230702413,-1.7156887325419912]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.640746955334963,1.7403531696255983,0.71338606911949],"aabb_xy":[[0.5607469567476435,1.6610375676874376],[0.7207469539222824,1.8196687715637594]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_25","position":[-0.12243039060839345,1.424109411585151,0.71338606911949],"aabb_xy":[[-0.1474303898803557,1.4077640479889884],[-0.09743039133643115,1.440454775181313]]}],"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":0.6888340427772047,"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/3244.png","name":"3244"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3244.png","name":"3244"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3931.png","name":"3931"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8438.png","name":"8438"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2095.png","name":"2095"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3306.png","name":"3306"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":695.5718611130442,"rotation_z_degrees":19.689588464690747,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0041940933654208805,-0.0016211097939998233,0.01994105911434622]},{"name":"camera_2","offset_m":[-0.007350239158084953,0.0037028621435348137,0.009776588415078488]},{"name":"camera_3","offset_m":[-0.01737408700569462,0.008776855272151517,-0.013176621013960044]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00018455767584481904,0.0012731961932177134,0.0017169317322205378],"end_effector_yaw_offset_degrees":0.9206215419167203},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003099793133083822,0.0019178888206681163,0.0003101456413349252],"end_effector_yaw_offset_degrees":-0.2942205299696976},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00010668544780508124,0.00010753326732200821,0.0005005198166895572],"end_effector_yaw_offset_degrees":0.762413500860138}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020655925591411394,0.002836420295316034],"position_m":[0.2986655925591411,0.36823642029531606,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010743774969788804,0.004693854446620858],"position_m":[0.26962562250302113,-0.35100614555337917,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018192273525030169,-0.003965379456129724],"position_m":[0.341880772647497,0.26113462054387027,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005019014683645606,0.003664192135460309],"position_m":[0.31249809853163546,0.0669641921354603,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7874d368a6e2e978a313a0248aa106741128f20c36afc0275c1d63ccf027ff57","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3244/tex_ceiling_textures_3306/tex_floor_textures_2095/tex_table_textures_3931/tex_wall_textures_8438","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4448785989444171717,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4448785989444171717,"visual_seed":4448785989444171717,"scene_id":"lab_003","finished_at":"2026-09-04T20:37:15"} +{"episode_id":"ep_000098","started_at":"2026-09-04T20:37:20","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[0.03790963801347169,1.3572294672634424,0.71338606911949],"aabb_xy":[[-0.011973058864224517,1.3072294680171679],[0.08779233489116789,1.4072294665097174]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.6587490522094326,1.5333980569958556,0.71338606911949],"aabb_xy":[[0.6411707500204856,1.5158235674217508],[0.6763273543983793,1.5509725465699609]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[-0.027345618636635316,1.112803812038957,0.71338606911949],"aabb_xy":[[-0.039812976746370965,1.1003384874056334],[-0.01487826052689967,1.1252691366722805]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[-0.3735832135975497,1.198031418190534,0.71338606911949],"aabb_xy":[[-0.3910832127319168,1.1881517911529462],[-0.3560832144631825,1.2079110452281219]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.6305136475339473,0.9240993242950553,0.71338606911949],"aabb_xy":[[-0.6437445930686285,0.9108719052730558],[-0.6172827019992659,0.9373267433170547]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[-0.07790172306409937,-0.8758326313943987,0.71338606911949],"aabb_xy":[[-0.1419017263538075,-0.9191675503983163],[-0.013901719774391265,-0.8324977123904811]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.5705017145392719,1.1214719599710188,0.71338606911949],"aabb_xy":[[0.5393547956956887,1.0514719612842116],[0.6016486333828549,1.191471958657826]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.3744603360745038,-1.6017737506405334,0.71338606911949],"aabb_xy":[[0.3440622249753602,-1.6321806526422027],[0.4048584471736474,-1.5713668486388637]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[0.6332235294077915,-0.6518842776168998,0.71338606911949],"aabb_xy":[[0.6032559724979658,-0.6818842779147856],[0.6631910863176171,-0.6218842773190141]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[0.13924928679359727,-2.530541407143808,0.71338606911949],"aabb_xy":[[0.10221517736553754,-2.5649186144775173],[0.17628339622165695,-2.4961641998100985]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.15125490447168854,0.5896250729995947,0.71338606911949],"aabb_xy":[[0.14494280493535014,0.5838581337463759],[0.157567004008027,0.5953920122528135]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[0.42499911487333275,-2.4324764322855157,0.71338606911949],"aabb_xy":[[0.3549991132710532,-2.4459092254871737],[0.4949991164756122,-2.4190436390838586]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[-0.5119872143541012,-0.1327195653194324,0.71338606911949],"aabb_xy":[[-0.5286643503471967,-0.14941948929336268],[-0.4953100783610057,-0.11601964134550213]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.5931666303474659,-0.49116229643193865,0.71338606911949],"aabb_xy":[[0.5563160824104783,-0.5286622972549724],[0.6300171782844535,-0.45366229560890486]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[0.07918100480896684,1.7308670966838808,0.71338606911949],"aabb_xy":[[0.015181002588559797,1.6864940125585925],[0.14318100702937386,1.7752401808091691]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.5459874759441579,-1.3386265753949627,0.71338606911949],"aabb_xy":[[-0.549428152184215,-1.3424880083693271],[-0.5425467997041007,-1.3347651424205982]]},{"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_16","position":[-0.511277007127882,-1.5127418987620775,0.71338606911949],"aabb_xy":[[-0.5962770055453053,-1.5976161942243625],[-0.4262770087104588,-1.4278676032997926]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[0.07786380346289168,-0.8842147156922269,0.71338606911949],"aabb_xy":[[0.06599172045139057,-0.9692147153858771],[0.08973588647439279,-0.7992147159985764]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.3909024841285078,-1.078669830275432,0.71338606911949],"aabb_xy":[[0.32690248684285916,-1.1201765492282758],[0.45490248141415646,-1.0371631113225879]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.038843152349075205,-2.408998972503671,0.71338606911949],"aabb_xy":[[0.0015118758238325813,-2.443652027298523],[0.07617442887431783,-2.3743459177088186]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[0.3704788394285663,-0.6215479307804068,0.71338606911949],"aabb_xy":[[0.29047883616455317,-0.63510796308932],[0.45047884269257943,-0.6079878984714934]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[0.5496214692328922,-1.572001051579419,0.71338606911949],"aabb_xy":[[0.5376887348710642,-1.5843832043872785],[0.5615542035947203,-1.5596188987715598]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[-0.35383333393150146,0.8519570789022106,0.71338606911949],"aabb_xy":[[-0.39133333442885976,0.8479883953540922],[-0.31633333343414327,0.855925762450329]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_23","position":[-0.012694138935748889,-0.6301246762716521,0.71338606911949],"aabb_xy":[[-0.016608012131171412,-0.638873691678209],[-0.008780265740326365,-0.6213756608650953]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[-0.6627019932889062,-0.2859449668673335,0.71338606911949],"aabb_xy":[[-0.6905470300695133,-0.3167294656056452],[-0.6348569565082991,-0.2551604681290218]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[0.32744233685298707,-1.6896888232892722,0.71338606911949],"aabb_xy":[[0.31234003539196886,-1.7047903449203339],[0.34254463831400506,-1.67458730165821]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.2517444966664276,-2.0368099703070657,0.71338606911949],"aabb_xy":[[0.23424449738834074,-2.0541480703734116],[0.2692444959445145,-2.0194718702407197]]},{"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_27","position":[0.07962236758237351,-1.6106584563689652,0.71338606911949],"aabb_xy":[[0.07092440529165822,-1.6227834306764404],[0.0883203298730888,-1.598533482061491]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_28","position":[-0.5950313152064968,-2.265483029450778,0.71338606911949],"aabb_xy":[[-0.6450313165673839,-2.3154609340261936],[-0.5450313138456094,-2.2155051248753623]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_29","position":[0.5659985564145329,-2.4397691990125367,0.71338606911949],"aabb_xy":[[0.544108808825592,-2.5297691963017854],[0.5878883040034736,-2.349769201723287]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[0.5635508702407173,1.3998710300970467,0.71338606911949],"aabb_xy":[[0.5285508688892355,1.3795112941402259],[0.598550871592199,1.4202307660538676]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_31","position":[-0.4034840675066561,0.038135557075390736,0.71338606911949],"aabb_xy":[[-0.46348406836746886,-0.013290872931095652],[-0.34348406664584324,0.08956198708187711]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_32","position":[-0.6579205375371726,1.2557675699864257,0.71338606911949],"aabb_xy":[[-0.6804205380492131,1.2332757116210271],[-0.6354205370251319,1.2782594283518238]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_33","position":[-0.28087613036537845,1.0257904867081886,0.71338606911949],"aabb_xy":[[-0.3408761308732313,0.9689437530222674],[-0.2208761298575255,1.08263722039411]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_34","position":[0.21728122158868135,1.04056865568512,0.71338606911949],"aabb_xy":[[0.1673038047234277,0.9905686541958713],[0.2672586384539348,1.0905686571743682]]}],"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":0.6951194942242914,"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/1628.png","name":"1628"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1628.png","name":"1628"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6986.png","name":"6986"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/215.png","name":"215"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2144.png","name":"2144"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3748.png","name":"3748"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":564.8836149151686,"rotation_z_degrees":259.0605563595799,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01930339424866016,-0.002317952255676707,-0.01992179445418972]},{"name":"camera_2","offset_m":[0.01710755764315625,-0.0031161204150854556,0.00288768171971451]},{"name":"camera_3","offset_m":[-0.010796552102244946,0.01291534670769057,0.006372887243132164]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018432455391977796,-0.001672660407418043,0.0002686872970904296],"end_effector_yaw_offset_degrees":-0.1814263696960483},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001537098568561567,-0.0013363867041984974,0.0008453863536521436],"end_effector_yaw_offset_degrees":-0.6778307911363137},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011991544122312249,0.0010985687039571997,-0.00034827966342212513],"end_effector_yaw_offset_degrees":0.796759310597325}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004040731726571143,-0.0007841900745791741],"position_m":[0.30064073172657113,0.3646158099254208,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008756557138567414,-0.004284184832929977],"position_m":[0.2715756557138567,-0.35998418483293,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033412985676581535,-0.0028267440077697128],"position_m":[0.34704129856765814,0.2622732559922303,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003539244676949628,0.002743561604304087],"position_m":[0.3165392446769496,0.06604356160430408,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5475658c776be0d229dd9c072c979b22ae3cf3bcbecda6603fa4a2def017de00","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1628/tex_ceiling_textures_3748/tex_floor_textures_2144/tex_table_textures_6986/tex_wall_textures_215","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6039361120379536327,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6039361120379536327,"visual_seed":6039361120379536327,"scene_id":"lab_003","finished_at":"2026-09-04T20:40:37"} +{"episode_id":"ep_000099","started_at":"2026-09-04T20:40:41","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[0.548033171883306,-2.2070274793160705,0.71338606911949],"aabb_xy":[[0.5400396820880241,-2.215025611256546],[0.5560266616785882,-2.199029347375595]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[0.5455939815288375,1.5558371044501835,0.71338606911949],"aabb_xy":[[0.5286832490924956,1.5423648988575687],[0.5625047139651792,1.569309310042798]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[0.23682580535181152,-2.2904185895851827,0.71338606911949],"aabb_xy":[[0.15682580838877236,-2.3674942312289557],[0.3168258023148507,-2.213342947941409]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.17827530615417841,-1.5874560581868442,0.71338606911949],"aabb_xy":[[-0.18589957424435666,-1.5950892817233882],[-0.17065103806400017,-1.5798228346503007]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[0.2548997702292206,-2.10528138579108,0.71338606911949],"aabb_xy":[[0.1748997715723346,-2.1197862447153435],[0.3348997688861066,-2.0907765268668177]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.13853758990027853,1.1339747121795294,0.71338606911949],"aabb_xy":[[-0.14261574780732827,1.1298937319312659],[-0.1344594319932288,1.1380556924277925]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[0.4295788356894956,1.390857673997571,0.71338606911949],"aabb_xy":[[0.36557883377715333,1.3349465247395607],[0.493578837601838,1.4467688232555815]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.44789539118263755,0.002460973454190718,0.71338606911949],"aabb_xy":[[-0.46980407332198854,-0.019439693365900013],[-0.42598670904328645,0.02436164027428145]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.12509269175985926,1.3784932115390052,0.71338606911949],"aabb_xy":[[-0.1330159719986076,1.3559932113010018],[-0.11716941152111093,1.4009932117770085]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.21722998096216284,0.20720514642763677,0.71338606911949],"aabb_xy":[[-0.3069170572702783,0.11720514617318623],[-0.12754290465404738,0.2972051466820873]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[0.5325032629756081,0.5409802823087504,0.71338606911949],"aabb_xy":[[0.4685032656732617,0.49661385534089364],[0.5965032602779545,0.5853467092766071]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.4014100076732197,-0.44199743618222787,0.71338606911949],"aabb_xy":[[-0.41265506324383755,-0.4532392339063232],[-0.3901649521026019,-0.43075563845813264]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[0.378285648714916,-0.7754987263314252,0.71338606911949],"aabb_xy":[[0.3607073465259691,-0.7930732159055301],[0.3958639509038628,-0.7579242367573203]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[0.5460614173293932,0.20221438995679275,0.71338606911949],"aabb_xy":[[0.46606141589926586,0.12269723494418328],[0.6260614187595203,0.2817315449694022]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.11335359799475053,0.7895971575487555,0.71338606911949],"aabb_xy":[[0.049353596586759856,0.7378082060248309],[0.17735359940274117,0.8413861090726803]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.2742072819638177,-1.48693223042032,0.71338606911949],"aabb_xy":[[0.21921503132830678,-1.541932232163633],[0.32919953259932866,-1.4319322286770073]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[0.5545575712237238,-2.2922540779651213,0.71338606911949],"aabb_xy":[[0.5170575728003235,-2.3054182919329516],[0.5920575696471242,-2.27908986399729]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[-0.5312241453092814,-0.3425489508189332,0.71338606911949],"aabb_xy":[[-0.56872414597386,-0.35823600881915535],[-0.49372414464470266,-0.326861892818711]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[-0.07613940336077374,-1.9298089292750078,0.71338606911949],"aabb_xy":[[-0.1661394056947928,-2.0072912838601207],[0.01386059897324532,-1.8523265746898951]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.5699495260994997,-0.08545974485206731,0.71338606911949],"aabb_xy":[[-0.6074495246751205,-0.09819604051562524],[-0.5324495275238789,-0.07272344918850936]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[0.7164757194737987,-0.3842566584477032,0.71338606911949],"aabb_xy":[[0.7090632639324103,-0.3901078688693311],[0.7238881750151872,-0.3784054480260752]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[0.46941883347179103,-1.3373895588093239,0.71338606911949],"aabb_xy":[[0.3994188308352047,-1.3574944238051891],[0.5394188361083774,-1.3172846938134581]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[0.5830205181463393,-1.9859214160787695,0.71338606911949],"aabb_xy":[[0.5753173274722623,-1.9936307867775074],[0.5907237088204162,-1.9782120453800311]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[-0.23177111212413498,-2.5544499734448594,0.71338606911949],"aabb_xy":[[-0.24956461905905142,-2.572249719040657],[-0.21397760518921854,-2.5366502278490617]]}],"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":0.6934380562183169,"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/7143.png","name":"7143"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7143.png","name":"7143"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3116.png","name":"3116"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1784.png","name":"1784"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3438.png","name":"3438"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/625.png","name":"625"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":762.3517316367231,"rotation_z_degrees":305.485218043996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0006082996579917163,-0.01088223684037354,0.010602686072982127]},{"name":"camera_2","offset_m":[0.015568035215621136,-0.015157528805458377,-0.009397254277999232]},{"name":"camera_3","offset_m":[-0.01595682802791719,0.010704667942790107,0.010227912009946213]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00038064605425068955,-0.0015118006124748397,-0.0012311283315333955],"end_effector_yaw_offset_degrees":-0.5864634402491664},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000784446933225632,-0.00039998701826844717,0.0012692916678530416],"end_effector_yaw_offset_degrees":-0.12345803526066668},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008758209088232216,-0.00018614917153396957,0.0019301126671236613],"end_effector_yaw_offset_degrees":0.8857655672018885}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006081144963089391,0.003449543917071348],"position_m":[0.29599188550369104,0.36884954391707137,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011206092543412614,-0.000618002325184528],"position_m":[0.27182060925434126,-0.35631800232518457,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00411354670910393,0.00037215958896615227],"position_m":[0.3478135467091039,0.26547215958896614,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024729204470377453,0.0008490350409358881],"position_m":[0.31052707955296227,0.06414903504093589,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7f2583cf0661ea233919aee21c322c45951d5f0559ee180dc44612625b92ebe8","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7143/tex_ceiling_textures_625/tex_floor_textures_3438/tex_table_textures_3116/tex_wall_textures_1784","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":9071048303949496958,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":9071048303949496958,"visual_seed":9071048303949496958,"scene_id":"lab_003","finished_at":"2026-09-04T20:43:54"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ea7d1ee67fb017b8277b219f05d3d912d5b96c87 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_htd_00053 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Press the heater button to start heating. + layout_id: layout_00053 + reproducibility: + enabled: true + layout_id: layout_00053 + action_seed: 6843919548868063803 + step_seeds: + - 5199353700918230458 + - 1290258848948700541 + - 5893590780811652695 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3437 + - 0.3437 + 'y': + - 0.2651 + - 0.2651 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2966 + - 0.2966 + 'y': + - 0.3654 + - 0.3654 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.313 + - 0.313 + 'y': + - 0.0633 + - 0.0633 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2707 + - 0.2707 + 'y': + - -0.3557 + - -0.3557 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_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_00053 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..46c51d107574248c7f96018e81148f23ce380934 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/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": [ + 0.3251698965862948, + 0.3610089744715766, + 1.154070645833173 + ], + "current_z": 1.154070645833173, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.2974841384246074, + "gripper_z": 1.147259322032784, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3199959962133506, + 0.3560982814648288, + 1.147259322032784 + ], + "object_minus_gripper": [ + 0.005173900372944185, + 0.0049106930067477905, + 0.006811323800389069 + ], + "object_to_gripper_xy": 0.007133312756053363, + "object_to_gripper_z": 0.006811323800389069, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3251698965862948, + 0.3366179826027179, + 1.154070645833173 + ], + "finger_b": [ + 0.3143952838236717, + 0.3610089744715766, + 1.154070645833173 + ], + "finger_midpoint": [ + 0.31978259020498323, + 0.3488134785371473, + 1.154070645833173 + ], + "object_minus_finger_midpoint": [ + 0.005387306381311574, + 0.012195495934429312, + 0.0 + ], + "finger_gap": 0.02666482260453294, + "fingertip_max_gap": 0.09067787375741668, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013332411302266454, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.154070645833173, + "object_top_z": 1.1997895877715576, + "finger_top_clearance": 0.04571894193838455, + "fingertip_min_top_clearance": 0.013715682581515365, + "object_projection_between_fingers": 0.8367226497529575, + "object_to_finger_line_xy": 0.009855812513021011, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783893687870834, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7229736910651311, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3370500990133749, + -0.35616540184007695, + 0.8470197026751333 + ], + "target_position": [ + 0.328088517218456, + -0.3587749517754102, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009333793394543275, + "xy_threshold": 0.08, + "gripper_dist": 0.18724307512630436, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197026751333, + "min_z": 0.5730800627579278, + "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": 0.07550647171663807, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08636888778127964, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15574053677259653, + "release_required_pad_clearance": 0.053184443890639824, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.391538314455031, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008366763591766357, + "max_z_decrease": 0.008366763591766357, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506841094999274, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008366763591766357, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021205792600305085, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008366763591766357, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008366823626404398, + "max_button_displacement": 0.12, + "button_start": [ + 0.1837884485721588, + -0.41503641009330744, + 0.7768088579177856 + ], + "button_final": [ + 0.1837884485721588, + -0.41503641009330744, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18308727049960427, + -0.412919717031987, + 0.8075897746007017 + ], + "closest_button": [ + 0.18378138542175293, + -0.4150374233722686, + 0.7725922465324402 + ], + "closest_ee_minus_button": [ + -0.0006941149221486587, + 0.002117706340281633, + 0.03499752806826151 + ], + "button_min_z_position": [ + 0.18375770747661588, + -0.415028691291809, + 0.7684420943260193 + ], + "min_active_finger_to_button": 0.14609099504746223, + "closest_active_finger": [ + 0.05472901463508606, + -0.4738748371601105, + 0.8079882264137268 + ], + "closest_active_finger_button": [ + 0.18379627168178558, + -0.41504070162773127, + 0.7730201482772827 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12906725704669952, + -0.058834135532379206, + 0.03496807813644409 + ], + "min_contact_pad_to_button": 0.021205792600305085, + "closest_contact_pad": [ + 0.18375770747661588, + -0.415028691291809, + 0.7896478869263244 + ], + "closest_contact_pad_button": [ + 0.18375770747661588, + -0.415028691291809, + 0.7684420943260193 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021205792600305085 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01b303ef8e3bd5de739887ca17ddfb695415d9ae0b821fd9ca02277bda99722e", + "visual_seed": 2775674618503543261, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6b87f424cf08a5c4f2a0322983ccc8fc5900c945 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "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": [ + 0.32663379883509225, + 0.3581773259352289, + 1.1557084250341945 + ], + "current_z": 1.1557084250341945, + "required_z": 0.8565867458271447, + "initial_z": 0.7565867458271447, + "lift_margin": 0.2991216792070498, + "gripper_z": 1.14888446786077, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32152676875219177, + 0.35305469416360746, + 1.14888446786077 + ], + "object_minus_gripper": [ + 0.005107030082900477, + 0.005122631771621422, + 0.006823957173424544 + ], + "object_to_gripper_xy": 0.007233471679302801, + "object_to_gripper_z": 0.006823957173424544, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32663379883509225, + 0.33411804357695496, + 1.1557084250341945 + ], + "finger_b": [ + 0.31517344326661056, + 0.3581773259352289, + 1.1557084250341945 + ], + "finger_midpoint": [ + 0.3209036210508514, + 0.3461476847560919, + 1.1557084250341945 + ], + "object_minus_finger_midpoint": [ + 0.005730177784240842, + 0.012029641179136963, + 0.0 + ], + "finger_gap": 0.026649368047876484, + "fingertip_max_gap": 0.09051626116035741, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013324684023938242, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1557084250341945, + "object_top_z": 1.2013821099137063, + "finger_top_clearance": 0.045673684879511844, + "fingertip_min_top_clearance": 0.013702105463853519, + "object_projection_between_fingers": 0.8150636189318042, + "object_to_finger_line_xy": 0.010346509157476575, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047758130580178706, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7061838397835878, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 383, + "max_stable_success_frames": 383, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.334647571024334, + -0.3572473089621494, + 0.8470198843212071 + ], + "target_position": [ + 0.32714062993155374, + -0.3589930749722443, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007707260442756283, + "xy_threshold": 0.08, + "gripper_dist": 0.18663337518501458, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198843212071, + "min_z": 0.5730800627579278, + "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": 0.07546909812351077, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524152243877402, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15521107146906032, + "release_required_pad_clearance": 0.05262076121938701, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.30131361737808265, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008487999439239502, + "max_z_decrease": 0.008487999439239502, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502364426169591, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008487999439239502, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02119468762939918, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008487999439239502, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00848804519119032, + "max_button_displacement": 0.12, + "button_start": [ + 0.1828405559062958, + -0.41525453329086304, + 0.7768088579177856 + ], + "button_final": [ + 0.1828405559062958, + -0.41525453329086304, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1813906166505446, + -0.41614284663409623, + 0.8036694606077718 + ], + "closest_button": [ + 0.18281242251396185, + -0.415239304304123, + 0.7686863541603088 + ], + "closest_ee_minus_button": [ + -0.0014218058634172526, + -0.0009035423299732503, + 0.03498310644746294 + ], + "button_min_z_position": [ + 0.18283918499946597, + -0.41522669792175293, + 0.7683208584785461 + ], + "min_active_finger_to_button": 0.14717642174992385, + "closest_active_finger": [ + 0.04072275012731552, + -0.3993174731731415, + 0.8076397776603699 + ], + "closest_active_finger_button": [ + 0.1828502118587494, + -0.41525992751121527, + 0.7729047536849976 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14212746173143387, + 0.015942454338073786, + 0.034735023975372314 + ], + "min_contact_pad_to_button": 0.02119468762939918, + "closest_contact_pad": [ + 0.18283918499946597, + -0.41738305702041, + 0.7894055661868699 + ], + "closest_contact_pad_button": [ + 0.18283918499946597, + -0.41522669792175293, + 0.7683208584785461 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002156359098657079, + 0.021084707708323713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "182e8bfc907bcd5dc35909d2f14ccf90fbaea40d1ff11977458acbedcb6340b8", + "visual_seed": 4894312105779994343, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7a6a8959c758dbe1b7e62d2574953c6ecf014d19 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "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": [ + 0.32630327019015365, + 0.35858602908864823, + 1.1577768871082375 + ], + "current_z": 1.1577768871082375, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3011903796996719, + "gripper_z": 1.1509517786206873, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3209993008977401, + 0.35358229297125005, + 1.1509517786206873 + ], + "object_minus_gripper": [ + 0.005303969292413557, + 0.005003736117398183, + 0.0068251084875501355 + ], + "object_to_gripper_xy": 0.007291739530963857, + "object_to_gripper_z": 0.0068251084875501355, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32630327019015365, + 0.33411702087163164, + 1.1577768871082375 + ], + "finger_b": [ + 0.315374557982956, + 0.35858602908864823, + 1.1577768871082375 + ], + "finger_midpoint": [ + 0.32083891408655485, + 0.34635152498013994, + 1.1577768871082375 + ], + "object_minus_finger_midpoint": [ + 0.0054643561035988, + 0.012234504108508293, + 0.0 + ], + "finger_gap": 0.026798677460504954, + "fingertip_max_gap": 0.09074481481631533, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013399338730252465, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1577768871082375, + "object_top_z": 1.2034726336803265, + "finger_top_clearance": 0.04569574657208908, + "fingertip_min_top_clearance": 0.01370872397162669, + "object_projection_between_fingers": 0.8336927218942991, + "object_to_finger_line_xy": 0.009978654700159621, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047872407408157666, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7099581668251492, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3318473947514916, + -0.3565742376104961, + 0.8470199722800569 + ], + "target_position": [ + 0.3230970362360415, + -0.35905098836944277, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009094122743335535, + "xy_threshold": 0.08, + "gripper_dist": 0.18853085817709878, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199722800569, + "min_z": 0.5730800627579278, + "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": 0.07519559606622903, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527946546479319, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15773713255693353, + "release_required_pad_clearance": 0.052639732732396596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3357091669101533, + "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": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008432149887084961, + "max_z_decrease": 0.008432149887084961, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035036100573738925, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008432149887084961, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02106272185900604, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008432149887084961, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008432211409607943, + "max_button_displacement": 0.12, + "button_start": [ + 0.17879696190357208, + -0.4153124392032624, + 0.7768088579177856 + ], + "button_final": [ + 0.17879696190357208, + -0.4153124392032624, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1803652375617926, + -0.4152690172484808, + 0.8033782079494818 + ], + "closest_button": [ + 0.17880858480930326, + -0.4152823984622956, + 0.7683767080307007 + ], + "closest_ee_minus_button": [ + 0.0015566527524893403, + 1.3381213814778192e-05, + 0.0350014999187811 + ], + "button_min_z_position": [ + 0.17880858480930326, + -0.4152823984622956, + 0.7683767080307007 + ], + "min_active_finger_to_button": 0.14432463103974633, + "closest_active_finger": [ + 0.03955987095832825, + -0.39967042207717896, + 0.8080472350120544 + ], + "closest_active_finger_button": [ + 0.17880521714687347, + -0.4153182208538056, + 0.7734715342521667 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13924534618854523, + 0.015647798776626642, + 0.034575700759887695 + ], + "min_contact_pad_to_button": 0.02106272185900604, + "closest_contact_pad": [ + 0.17880858480930326, + -0.41640445775194596, + 0.789409521324703 + ], + "closest_contact_pad_button": [ + 0.17880858480930326, + -0.4152823984622956, + 0.7683767080307007 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011220592896503678, + 0.021032813294002306 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "482c6724bbd4b83a017e5e8e8fc14c9ac40883505a90d010656ce2e55a0c102a", + "visual_seed": 21601468907542605, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..136efb3abb0fe9e007668b9a3df26a20c338e7db --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "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": [ + 0.3244586140568973, + 0.3596343719924616, + 1.157618015953086 + ], + "current_z": 1.157618015953086, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30103144893987566, + "gripper_z": 1.150823542267891, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31937901966579424, + 0.35448208306801116, + 1.150823542267891 + ], + "object_minus_gripper": [ + 0.0050795943911030594, + 0.0051522889244504655, + 0.006794473685195035 + ], + "object_to_gripper_xy": 0.007235216675341561, + "object_to_gripper_z": 0.006794473685195035, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3244586140568973, + 0.33565062258909634, + 1.157618015953086 + ], + "finger_b": [ + 0.3128800854242214, + 0.3596343719924616, + 1.157618015953086 + ], + "finger_midpoint": [ + 0.3186693497405594, + 0.347642497290779, + 1.157618015953086 + ], + "object_minus_finger_midpoint": [ + 0.0057892643163379165, + 0.011991874701682614, + 0.0 + ], + "finger_gap": 0.02663235927853783, + "fingertip_max_gap": 0.09060298611253784, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013316179639268878, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157618015953086, + "object_top_z": 1.2033124636419474, + "finger_top_clearance": 0.04569444768886144, + "fingertip_min_top_clearance": 0.013708334306658397, + "object_projection_between_fingers": 0.8109888319295269, + "object_to_finger_line_xy": 0.010427034506461277, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780149305626892, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7523796822640869, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 387, + "max_stable_success_frames": 387, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3341781293860611, + -0.3510979799794084, + 0.8470199026415342 + ], + "target_position": [ + 0.3262842191701722, + -0.352995349812294, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00811873332357086, + "xy_threshold": 0.08, + "gripper_dist": 0.18574091119680536, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199026415342, + "min_z": 0.5730800627579278, + "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": 0.07537309544241214, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08645185051501968, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15451718332070247, + "release_required_pad_clearance": 0.05322592525750984, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4713689165073542, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008311033248901367, + "max_z_decrease": 0.008311033248901367, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503119412019513, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008311033248901367, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021127243047653763, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008311033248901367, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008311066037528174, + "max_button_displacement": 0.12, + "button_start": [ + 0.18198414146900177, + -0.40925681591033924, + 0.7768088579177856 + ], + "button_final": [ + 0.18198414146900177, + -0.40925681591033924, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18277461625047453, + -0.4105171268954044, + 0.8035636423135329 + ], + "closest_button": [ + 0.18197818100452423, + -0.40923935174942005, + 0.7685648202896118 + ], + "closest_ee_minus_button": [ + 0.0007964352459502999, + -0.0012777751459843723, + 0.03499882202392113 + ], + "button_min_z_position": [ + 0.18197152018547058, + -0.40923717617988575, + 0.7684978246688843 + ], + "min_active_finger_to_button": 0.14494203544972242, + "closest_active_finger": [ + 0.04180435836315155, + -0.3964233994483948, + 0.8092331886291504 + ], + "closest_active_finger_button": [ + 0.1819896399974823, + -0.4092614948749541, + 0.7747156023979187 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14018528163433075, + 0.012838095426559337, + 0.03451758623123169 + ], + "min_contact_pad_to_button": 0.021127243047653763, + "closest_contact_pad": [ + 0.18197152018547058, + -0.4115110651251713, + 0.789502343893545 + ], + "closest_contact_pad_button": [ + 0.18197152018547058, + -0.40923717617988575, + 0.7684978246688843 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022738889452855737, + 0.021004519224660734 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69b538f1a6512d5bc17f7ee0360b3695ef809052931705086fc6657e8b72db09", + "visual_seed": 496930389000532202, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..21c603b6128caa7d434d31106ffc151967e4fe0d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "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": [ + 0.3259343345702405, + 0.36450937894595653, + 1.1565871951679045 + ], + "current_z": 1.1565871951679045, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3000005685500494, + "gripper_z": 1.1497510196360192, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32067574612612004, + 0.3594942432744185, + 1.1497510196360192 + ], + "object_minus_gripper": [ + 0.005258588444120471, + 0.005015135671538051, + 0.0068361755318853135 + ], + "object_to_gripper_xy": 0.007266659358231317, + "object_to_gripper_z": 0.0068361755318853135, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3259343345702405, + 0.34021500959715156, + 1.1565871951679045 + ], + "finger_b": [ + 0.3148009335938749, + 0.36450937894595653, + 1.1565871951679045 + ], + "finger_midpoint": [ + 0.3203676340820577, + 0.352362194271554, + 1.1565871951679045 + ], + "object_minus_finger_midpoint": [ + 0.0055667004881828075, + 0.012147184674402511, + 0.0 + ], + "finger_gap": 0.026723940565655604, + "fingertip_max_gap": 0.09050236003706766, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013361970282827826, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1565871951679045, + "object_top_z": 1.2022539875592455, + "finger_top_clearance": 0.04566679239134097, + "fingertip_min_top_clearance": 0.01370003771740229, + "object_projection_between_fingers": 0.8264379755881416, + "object_to_finger_line_xy": 0.0101212227576864, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775118001853383, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6623289841001403, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 383, + "max_stable_success_frames": 383, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3358759489587109, + -0.35572645625061766, + 0.8470190626661741 + ], + "target_position": [ + 0.32747775696078135, + -0.3581528406228315, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00874168004194913, + "xy_threshold": 0.08, + "gripper_dist": 0.18579305557478934, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470190626661741, + "min_z": 0.5730800627579278, + "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": 0.07550130986411914, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08501992860719874, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15433535540335147, + "release_required_pad_clearance": 0.052509964303599374, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0884452450700696, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008438587188720703, + "max_z_decrease": 0.008438587188720703, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502523262412739, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008438587188720703, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021111288893524035, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008438587188720703, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008438609609951672, + "max_button_displacement": 0.12, + "button_start": [ + 0.18317767977714544, + -0.4144142866134643, + 0.7768088579177856 + ], + "button_final": [ + 0.18317767977714544, + -0.4144142866134643, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1818161058564871, + -0.4133615818863811, + 0.8033534535543758 + ], + "closest_button": [ + 0.1831848323345185, + -0.41439619660377497, + 0.7683702707290649 + ], + "closest_ee_minus_button": [ + -0.001368726478031379, + 0.0010346147173938558, + 0.03498318282531088 + ], + "button_min_z_position": [ + 0.1831848323345185, + -0.41439619660377497, + 0.7683702707290649 + ], + "min_active_finger_to_button": 0.14666981024059125, + "closest_active_finger": [ + 0.05447745323181152, + -0.475582093000412, + 0.807635486125946 + ], + "closest_active_finger_button": [ + 0.18318726122379309, + -0.41441842913627625, + 0.7729249000549316 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12870980799198156, + -0.06116366386413574, + 0.034710586071014404 + ], + "min_contact_pad_to_button": 0.021111288893524035, + "closest_contact_pad": [ + 0.1831848323345185, + -0.41462119246310825, + 0.7894803606296105 + ], + "closest_contact_pad_button": [ + 0.1831848323345185, + -0.41439619660377497, + 0.7683702707290649 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00022499585933327682, + 0.021110089900545526 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe2d39fe7c4ed197b7d9ad3623f9655b9dc092736dca0262d8e571444f42ad15", + "visual_seed": 8335345184497406688, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a579c78a556d954d2c45f02289acbb0947f2fb6f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "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": [ + 0.3259414295666326, + 0.3586662581847205, + 1.1542040976842305 + ], + "current_z": 1.1542040976842305, + "required_z": 0.8565867458271447, + "initial_z": 0.7565867458271447, + "lift_margin": 0.2976173518570858, + "gripper_z": 1.147382258880846, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32076050801169886, + 0.3537484715498866, + 1.147382258880846 + ], + "object_minus_gripper": [ + 0.005180921554933715, + 0.004917786634833887, + 0.0068218388033844946 + ], + "object_to_gripper_xy": 0.007143288706480202, + "object_to_gripper_z": 0.0068218388033844946, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3259414295666326, + 0.33432635292891383, + 1.1542040976842305 + ], + "finger_b": [ + 0.3150774308787016, + 0.3586662581847205, + 1.1542040976842305 + ], + "finger_midpoint": [ + 0.3205094302226671, + 0.34649630555681715, + 1.1542040976842305 + ], + "object_minus_finger_midpoint": [ + 0.005431999343965488, + 0.012169952627903324, + 0.0 + ], + "finger_gap": 0.02665440780345739, + "fingertip_max_gap": 0.0905749814685671, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013327203901728694, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1542040976842305, + "object_top_z": 1.1998922934159144, + "finger_top_clearance": 0.04568819573168392, + "fingertip_min_top_clearance": 0.013706458719505177, + "object_projection_between_fingers": 0.8338725751949194, + "object_to_finger_line_xy": 0.009920636793481808, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778749073428355, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7878947410853557, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3302200737182284, + -0.35395854865208737, + 0.8470194760642415 + ], + "target_position": [ + 0.32172859981820284, + -0.35623980691027934, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00879256892127578, + "xy_threshold": 0.08, + "gripper_dist": 0.1884211784934253, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194760642415, + "min_z": 0.5730800627579278, + "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": 0.0756667354691086, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601325808431264, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15640811606087235, + "release_required_pad_clearance": 0.05300662904215632, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0460387468487031, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008219301700592041, + "max_z_decrease": 0.008219301700592041, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502016463399701, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008219301700592041, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021121028329242623, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008219301700592041, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008219363078233078, + "max_button_displacement": 0.12, + "button_start": [ + 0.17742852866649628, + -0.4125012755393982, + 0.7768088579177856 + ], + "button_final": [ + 0.17742852866649628, + -0.4125012755393982, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17783488466267455, + -0.4139042646811548, + 0.8036526687464949 + ], + "closest_button": [ + 0.1774539053440094, + -0.41248506307601934, + 0.7686633467674255 + ], + "closest_ee_minus_button": [ + 0.00038097931866515333, + -0.0014192016051354783, + 0.03498932197906934 + ], + "button_min_z_position": [ + 0.17745408415794373, + -0.4124824106693268, + 0.7685895562171936 + ], + "min_active_finger_to_button": 0.14526980779810839, + "closest_active_finger": [ + 0.036979787051677704, + -0.3987705111503601, + 0.8104382157325745 + ], + "closest_active_finger_button": [ + 0.17743253707885742, + -0.412504255771637, + 0.7759748101234436 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14045275002717972, + 0.013733744621276911, + 0.03446340560913086 + ], + "min_contact_pad_to_button": 0.021121028329242623, + "closest_contact_pad": [ + 0.17745408415794373, + -0.4149943338144277, + 0.7895606811225909 + ], + "closest_contact_pad_button": [ + 0.17745408415794373, + -0.4124824106693268, + 0.7685895562171936 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025119231451009028, + 0.02097112490539732 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "33269ae998d4a538a17c2b0f27da832cd897aafa2bf3c75fb522902ea6f45e05", + "visual_seed": 1999737729035353437, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..767d68286ffad2e9b46aa69cb7d878710b1ce2d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "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": [ + 0.32032423959545714, + 0.3624973516112177, + 1.155022733149765 + ], + "current_z": 1.155022733149765, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.2984362853458441, + "gripper_z": 1.148256964436779, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3153403934199085, + 0.3574106658894152, + 1.148256964436779 + ], + "object_minus_gripper": [ + 0.004983846175548645, + 0.005086685721802486, + 0.006765768712985842 + ], + "object_to_gripper_xy": 0.007121312683341473, + "object_to_gripper_z": 0.006765768712985842, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32032423959545714, + 0.3384180537242333, + 1.155022733149765 + ], + "finger_b": [ + 0.3090481858817374, + 0.3624973516112177, + 1.155022733149765 + ], + "finger_midpoint": [ + 0.31468621273859726, + 0.35045770266772547, + 1.155022733149765 + ], + "object_minus_finger_midpoint": [ + 0.005638026856859879, + 0.012039648943492243, + 0.0 + ], + "finger_gap": 0.02658875653513767, + "fingertip_max_gap": 0.09085600086914522, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013294378267568858, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.155022733149765, + "object_top_z": 1.2008259432699182, + "finger_top_clearance": 0.045803210120153315, + "fingertip_min_top_clearance": 0.013740963036045961, + "object_projection_between_fingers": 0.8201467801443068, + "object_to_finger_line_xy": 0.010211814757244305, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04792800043457261, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8533324533985506, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32801399126187936, + -0.3540165697577194, + 0.8470191871470911 + ], + "target_position": [ + 0.3202717931614269, + -0.35574078434924594, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00793186909777782, + "xy_threshold": 0.08, + "gripper_dist": 0.18728666089470566, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191871470911, + "min_z": 0.5730800627579278, + "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": 0.07537045652459895, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550633798882705, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15593239631913977, + "release_required_pad_clearance": 0.05275316899441353, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5553164120510955, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008435726165771484, + "max_z_decrease": 0.008435726165771484, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500568491147056, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008435726165771484, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020995502008152655, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008435726165771484, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008435807924676388, + "max_button_displacement": 0.12, + "button_start": [ + 0.17597171664237976, + -0.41200223565101624, + 0.7768088579177856 + ], + "button_final": [ + 0.17597171664237976, + -0.41200223565101624, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17623653037374784, + -0.41113432088444174, + 0.8033679123575382 + ], + "closest_button": [ + 0.17599616944789886, + -0.4119742810726166, + 0.7683731317520142 + ], + "closest_ee_minus_button": [ + 0.00024036092584897584, + 0.0008399601881748375, + 0.03499478060552408 + ], + "button_min_z_position": [ + 0.17599616944789886, + -0.4119742810726166, + 0.7683731317520142 + ], + "min_active_finger_to_button": 0.14522880326097626, + "closest_active_finger": [ + 0.049420103430747986, + -0.47437581419944763, + 0.8110732436180115 + ], + "closest_active_finger_button": [ + 0.17597681283950806, + -0.412004292011261, + 0.7766552567481995 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12655670940876007, + -0.062371522188186646, + 0.03441798686981201 + ], + "min_contact_pad_to_button": 0.020995502008152655, + "closest_contact_pad": [ + 0.17599616944789886, + -0.41228731551567405, + 0.7893663000219967 + ], + "closest_contact_pad_button": [ + 0.17599616944789886, + -0.4119742810726166, + 0.7683731317520142 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003130344430574694, + 0.020993168269982543 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5839dc901493b102cb6870833062dfea7f75a36c125375ecc4cfae1764a11e0b", + "visual_seed": 1316444323390518026, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc4eb5f4e9d3795f259d2ac783f94ead9ba59656 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "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": [ + 0.3282613771481187, + 0.3605815017123837, + 1.1574436462751037 + ], + "current_z": 1.1574436462751037, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.30085696005260376, + "gripper_z": 1.1506154011125982, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3231490334585776, + 0.35546240607102786, + 1.1506154011125982 + ], + "object_minus_gripper": [ + 0.00511234368954111, + 0.00511909564135582, + 0.006828245162505464 + ], + "object_to_gripper_xy": 0.007234721707525381, + "object_to_gripper_z": 0.006828245162505464, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3282613771481187, + 0.33648860740821873, + 1.1574436462751037 + ], + "finger_b": [ + 0.3168434507554617, + 0.3605815017123837, + 1.1574436462751037 + ], + "finger_midpoint": [ + 0.32255241395179024, + 0.3485350545603012, + 1.1574436462751037 + ], + "object_minus_finger_midpoint": [ + 0.005708963196328465, + 0.012046447152082473, + 0.0 + ], + "finger_gap": 0.026661519068871466, + "fingertip_max_gap": 0.09055147984544029, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01333075953443572, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1574436462751037, + "object_top_z": 1.2031509369127928, + "finger_top_clearance": 0.04570729063768919, + "fingertip_min_top_clearance": 0.013712187191306758, + "object_projection_between_fingers": 0.8165977338806577, + "object_to_finger_line_xy": 0.010317900230681205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777573992272015, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7442332541747507, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 387, + "max_stable_success_frames": 387, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3273931353516186, + -0.35145228685269514, + 0.8470194744991972 + ], + "target_position": [ + 0.31957895243126727, + -0.3531948080248039, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008006112336706133, + "xy_threshold": 0.08, + "gripper_dist": 0.18738004298411517, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194744991972, + "min_z": 0.5730800627579278, + "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": 0.07564834902274971, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539454236110298, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15539689452354533, + "release_required_pad_clearance": 0.052697271180551494, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.44936868021170284, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008339464664459229, + "max_z_decrease": 0.008339464664459229, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500796854955897, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008339464664459229, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021044275901406666, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008339464664459229, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008339507981866185, + "max_button_displacement": 0.12, + "button_start": [ + 0.17527887225151062, + -0.40945625305175776, + 0.7768088579177856 + ], + "button_final": [ + 0.17527887225151062, + -0.40945625305175776, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17494804103880485, + -0.40844693949833255, + 0.8034616024931447 + ], + "closest_button": [ + 0.17529790103435514, + -0.40943726897239674, + 0.7684693932533264 + ], + "closest_ee_minus_button": [ + -0.000349859995550289, + 0.0009903294740641888, + 0.03499220923981827 + ], + "button_min_z_position": [ + 0.17529790103435514, + -0.40943726897239674, + 0.7684693932533264 + ], + "min_active_finger_to_button": 0.1457110502717591, + "closest_active_finger": [ + 0.04751773178577423, + -0.47041451930999756, + 0.8113310933113098 + ], + "closest_active_finger_button": [ + 0.17528250813484192, + -0.40945753455162043, + 0.7768040299415588 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277647763490677, + -0.06095698475837713, + 0.03452706336975098 + ], + "min_contact_pad_to_button": 0.021044275901406666, + "closest_contact_pad": [ + 0.17529790103435514, + -0.4097248716478064, + 0.7895117037946054 + ], + "closest_contact_pad_button": [ + 0.17529790103435514, + -0.40943726897239674, + 0.7684693932533264 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00028760267540967055, + 0.02104231054127903 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b9997733217fcff2e1667491486513b721b2098f7bfb6a5c3821751445633697", + "visual_seed": 7174943520498280548, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..de6d0bc419bb97b29a22b72c37ab6422064934f1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "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": [ + 0.3252608855856749, + 0.36078964178169376, + 1.1572233114292347 + ], + "current_z": 1.1572233114292347, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3006367444160244, + "gripper_z": 1.1503896299690484, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3200705836944678, + 0.35577360395207314, + 1.1503896299690484 + ], + "object_minus_gripper": [ + 0.005190301891207116, + 0.005016037829620623, + 0.006833681460186369 + ], + "object_to_gripper_xy": 0.007218023914483336, + "object_to_gripper_z": 0.006833681460186369, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3252608855856749, + 0.3365060002952825, + 1.1572233114292347 + ], + "finger_b": [ + 0.31418566776863177, + 0.36078964178169376, + 1.1572233114292347 + ], + "finger_midpoint": [ + 0.31972327667715333, + 0.3486478210384881, + 1.1572233114292347 + ], + "object_minus_finger_midpoint": [ + 0.005537608908521563, + 0.012141820743205634, + 0.0 + ], + "finger_gap": 0.02668999238545234, + "fingertip_max_gap": 0.0906592725300446, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01334499619272617, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1572233114292347, + "object_top_z": 1.2028596986000568, + "finger_top_clearance": 0.04563638717082208, + "fingertip_min_top_clearance": 0.013690916151246624, + "object_projection_between_fingers": 0.8278101083376319, + "object_to_finger_line_xy": 0.01007668398585163, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047829636265022304, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6304142058853023, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33513600374606883, + -0.35580159880361323, + 0.8470193389274621 + ], + "target_position": [ + 0.3266633801844241, + -0.35814921680042616, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008791851925294103, + "xy_threshold": 0.08, + "gripper_dist": 0.1891501004358055, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193389274621, + "min_z": 0.5730800627579278, + "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": 0.07574552815245363, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08591613985510037, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1570169581806896, + "release_required_pad_clearance": 0.052958069927550186, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9503783501150782, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008345603942871094, + "max_z_decrease": 0.008345603942871094, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501259252389685, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008345603942871094, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021171056094285545, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008345603942871094, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008345618652042464, + "max_button_displacement": 0.12, + "button_start": [ + 0.18236330151557922, + -0.41441068053245544, + 0.7768088579177856 + ], + "button_final": [ + 0.18236330151557922, + -0.41441068053245544, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18092595834220737, + -0.4139871400000263, + 0.8035758009406179 + ], + "closest_button": [ + 0.18235260248184204, + -0.4144066572189331, + 0.7685948014259338 + ], + "closest_ee_minus_button": [ + -0.0014266441396346696, + 0.0004195172189068175, + 0.03498099951468403 + ], + "button_min_z_position": [ + 0.1823597401380539, + -0.41439542174339294, + 0.7684632539749146 + ], + "min_active_finger_to_button": 0.1470482866199946, + "closest_active_finger": [ + 0.053122177720069885, + -0.47528380155563354, + 0.8078613877296448 + ], + "closest_active_finger_button": [ + 0.18237438797950742, + -0.4144144058227539, + 0.7730478644371033 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12925221025943753, + -0.06086939573287964, + 0.034813523292541504 + ], + "min_contact_pad_to_button": 0.021171056094285545, + "closest_contact_pad": [ + 0.1823597401380539, + -0.41531707961186964, + 0.7896142388910091 + ], + "closest_contact_pad_button": [ + 0.1823597401380539, + -0.41439542174339294, + 0.7684632539749146 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009216578684766996, + 0.021150984916094573 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ceac6fa82999a056370a0713949e3b6e924f25e6b91cb0f55fcfc2cd2fc6e3d", + "visual_seed": 2692284238607771329, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..12eb7654b7cc1bec45fc31444ea1d130d856c9bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "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": [ + 0.32930154259157635, + 0.3605554853175942, + 1.155224829259027 + ], + "current_z": 1.155224829259027, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2986382622458167, + "gripper_z": 1.1483713210468476, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3241460072621506, + 0.3554620172737927, + 1.1483713210468476 + ], + "object_minus_gripper": [ + 0.005155535329425753, + 0.005093468043801508, + 0.006853508212179449 + ], + "object_to_gripper_xy": 0.007247272676406227, + "object_to_gripper_z": 0.006853508212179449, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32930154259157635, + 0.3364095106294086, + 1.155224829259027 + ], + "finger_b": [ + 0.3179531948938612, + 0.3605554853175942, + 1.155224829259027 + ], + "finger_midpoint": [ + 0.3236273687427188, + 0.3484824979735014, + 1.155224829259027 + ], + "object_minus_finger_midpoint": [ + 0.005674173848857544, + 0.01207298734409279, + 0.0 + ], + "finger_gap": 0.026679825507501642, + "fingertip_max_gap": 0.09061620434356435, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013339912753750809, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.155224829259027, + "object_top_z": 1.2008915339177322, + "finger_top_clearance": 0.04566670465870515, + "fingertip_min_top_clearance": 0.013700011397611544, + "object_projection_between_fingers": 0.8190747017182178, + "object_to_finger_line_xy": 0.010270566281803964, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780810217178218, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7299597756671696, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32929983284520636, + -0.3516541281738341, + 0.8470195849176707 + ], + "target_position": [ + 0.3215829041884568, + -0.353321623448654, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007895031879917207, + "xy_threshold": 0.08, + "gripper_dist": 0.18870429331108107, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195849176707, + "min_z": 0.5730800627579278, + "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": 0.07519206918925002, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498261955814333, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15782367639285058, + "release_required_pad_clearance": 0.05249130977907167, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595288848056742, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008117377758026123, + "max_z_decrease": 0.008117377758026123, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501511198383744, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008117377758026123, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0211266395594746, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008117377758026123, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008117386910048242, + "max_button_displacement": 0.12, + "button_start": [ + 0.17728282511234283, + -0.4095830917358399, + 0.7768088579177856 + ], + "button_final": [ + 0.17728282511234283, + -0.4095830917358399, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17814945486262224, + -0.4100194230206263, + 0.8036929904185022 + ], + "closest_button": [ + 0.17728275060653687, + -0.4095709025859833, + 0.7686914801597595 + ], + "closest_ee_minus_button": [ + 0.000866704256085371, + -0.00044852043464299607, + 0.03500151025874265 + ], + "button_min_z_position": [ + 0.17728275060653687, + -0.4095709025859833, + 0.7686914801597595 + ], + "min_active_finger_to_button": 0.14496285979243825, + "closest_active_finger": [ + 0.03744090348482132, + -0.39354392886161804, + 0.8077943921089172 + ], + "closest_active_finger_button": [ + 0.17729228734970093, + -0.4095907509326935, + 0.7731776237487793 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1398513838648796, + 0.01604682207107544, + 0.03461676836013794 + ], + "min_contact_pad_to_button": 0.0211266395594746, + "closest_contact_pad": [ + 0.17728275060653687, + -0.41123353876335705, + 0.7897525945656414 + ], + "closest_contact_pad_button": [ + 0.17728275060653687, + -0.4095709025859833, + 0.7686914801597595 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016626361773737774, + 0.021061114405881876 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b8420add6dfaec492aa4ea67db2b7dadfe0589bcdbcc5ef392061a11b96e2be", + "visual_seed": 6176416027552061312, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a4a4a4552e78e8d9c2abe0b9c233b3c15faa7cb5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "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": [ + 0.32315840364681603, + 0.3643443124981705, + 1.1562954137122219 + ], + "current_z": 1.1562954137122219, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.299708965908301, + "gripper_z": 1.1494830213310157, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31795663421808923, + 0.3593580043415491, + 1.1494830213310157 + ], + "object_minus_gripper": [ + 0.005201769428726799, + 0.004986308156621433, + 0.006812392381206234 + ], + "object_to_gripper_xy": 0.007205669588763154, + "object_to_gripper_z": 0.006812392381206234, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32315840364681603, + 0.3400047939680258, + 1.1562954137122219 + ], + "finger_b": [ + 0.31218034170077336, + 0.3643443124981705, + 1.1562954137122219 + ], + "finger_midpoint": [ + 0.3176693726737947, + 0.35217455323309815, + 1.1562954137122219 + ], + "object_minus_finger_midpoint": [ + 0.005489030973021336, + 0.012169759265072355, + 0.0 + ], + "finger_gap": 0.026700749172455965, + "fingertip_max_gap": 0.09070277159127596, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013350374586227983, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1562954137122219, + "object_top_z": 1.2020167278959828, + "finger_top_clearance": 0.04572131418376091, + "fingertip_min_top_clearance": 0.013716394255128272, + "object_projection_between_fingers": 0.830954170796208, + "object_to_finger_line_xy": 0.010007237640973079, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785138579563798, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7269857592830717, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 379, + "max_stable_success_frames": 379, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3334412352704653, + -0.3553420070101565, + 0.84701965849499 + ], + "target_position": [ + 0.323791405550253, + -0.35813621165801895, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010046232788624269, + "xy_threshold": 0.08, + "gripper_dist": 0.18679637788259296, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701965849499, + "min_z": 0.5730800627579278, + "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": 0.07529712290201747, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506894968428529, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15592805815596178, + "release_required_pad_clearance": 0.052534474842142645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.13705372342858224, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008378326892852783, + "max_z_decrease": 0.008378326892852783, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499861888582951, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008378326892852783, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020993198944420154, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008378326892852783, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008378404730121669, + "max_button_displacement": 0.12, + "button_start": [ + 0.17949132621288294, + -0.41439765691757197, + 0.7768088579177856 + ], + "button_final": [ + 0.17949132621288294, + -0.41439765691757197, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18000975742960623, + -0.41442858873329536, + 0.8036305599808099 + ], + "closest_button": [ + 0.17951253056526179, + -0.4143769741058349, + 0.7686355113983154 + ], + "closest_ee_minus_button": [ + 0.0004972268643444466, + -5.161462746045009e-05, + 0.03499504858249447 + ], + "button_min_z_position": [ + 0.17951458692550654, + -0.4143700301647186, + 0.7684305310249329 + ], + "min_active_finger_to_button": 0.14530461874423556, + "closest_active_finger": [ + 0.03905092179775238, + -0.40017616748809814, + 0.810268759727478 + ], + "closest_active_finger_button": [ + 0.17949521541595453, + -0.4144011735916137, + 0.7758234143257141 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14044429361820215, + 0.01422500610351557, + 0.034445345401763916 + ], + "min_contact_pad_to_button": 0.020993198944420154, + "closest_contact_pad": [ + 0.17951458692550654, + -0.41544328457195523, + 0.7893962775391248 + ], + "closest_contact_pad_button": [ + 0.17951458692550654, + -0.4143700301647186, + 0.7684305310249329 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010732544072366568, + 0.02096574651419192 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f984bb2ab615395d1489bab9a1e0abd07aa67988c3fc98c5c7b1304cb9a0b26a", + "visual_seed": 8652426107056998798, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4432f68cc9d10b046ab6172386bed2750b97e57 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "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": [ + 0.3289611966137558, + 0.36243222388602697, + 1.15736388249365 + ], + "current_z": 1.15736388249365, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30077731548043973, + "gripper_z": 1.150538899631513, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32393779966958847, + 0.35731349961804926, + 1.150538899631513 + ], + "object_minus_gripper": [ + 0.005023396944167313, + 0.0051187242679777145, + 0.006824982862137174 + ], + "object_to_gripper_xy": 0.007171879460103432, + "object_to_gripper_z": 0.006824982862137174, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3289611966137558, + 0.3384595837313055, + 1.15736388249365 + ], + "finger_b": [ + 0.31746687572249355, + 0.36243222388602697, + 1.15736388249365 + ], + "finger_midpoint": [ + 0.32321403616812466, + 0.35044590380866625, + 1.15736388249365 + ], + "object_minus_finger_midpoint": [ + 0.0057471604456311165, + 0.011986320077360724, + 0.0 + ], + "finger_gap": 0.026585840004390883, + "fingertip_max_gap": 0.09057389372674049, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013292920002195441, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.15736388249365, + "object_top_z": 1.2030809524370816, + "finger_top_clearance": 0.0457170699434315, + "fingertip_min_top_clearance": 0.013715120983029483, + "object_projection_between_fingers": 0.813075657783973, + "object_to_finger_line_xy": 0.010364510525287791, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778694686337025, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7533288273141415, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 389, + "max_stable_success_frames": 389, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3347020210764024, + -0.353007040410956, + 0.8470202993638499 + ], + "target_position": [ + 0.3270944562072796, + -0.35493450251051983, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007847939435493004, + "xy_threshold": 0.08, + "gripper_dist": 0.18802989271229173, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470202993638499, + "min_z": 0.5730800627579278, + "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": 0.07566852175220103, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085552820311365, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1560396155119717, + "release_required_pad_clearance": 0.052776410155682504, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6013317802399464, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008326709270477295, + "max_z_decrease": 0.008326709270477295, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349976418139715, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008326709270477295, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021128112025451302, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008326709270477295, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008326734006438534, + "max_button_displacement": 0.12, + "button_start": [ + 0.182794377207756, + -0.41119596362113947, + 0.7768088579177856 + ], + "button_final": [ + 0.182794377207756, + -0.41119596362113947, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18209602588635643, + -0.41160585480002726, + 0.8034699889060696 + ], + "closest_button": [ + 0.1828059703111648, + -0.41117930412292475, + 0.7684821486473083 + ], + "closest_ee_minus_button": [ + -0.000709944424808373, + -0.0004265506771025107, + 0.03498784025876123 + ], + "button_min_z_position": [ + 0.1828059703111648, + -0.41117930412292475, + 0.7684821486473083 + ], + "min_active_finger_to_button": 0.14648911943222218, + "closest_active_finger": [ + 0.041328027844429016, + -0.39568471908569336, + 0.8077226877212524 + ], + "closest_active_finger_button": [ + 0.18280446529388425, + -0.41120183467864985, + 0.7730427384376526 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14147643744945523, + 0.015517115592956487, + 0.034679949283599854 + ], + "min_contact_pad_to_button": 0.021128112025451302, + "closest_contact_pad": [ + 0.1828059703111648, + -0.4127707138435403, + 0.789550241414836 + ], + "closest_contact_pad_button": [ + 0.1828059703111648, + -0.41117930412292475, + 0.7684821486473083 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015914097206155553, + 0.021068092767527635 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bed4bb6fce9e9205ac43bd85a22d1c0c35030b814c5032ea8381d009961f7111", + "visual_seed": 2206491629388438543, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..21faea923799f16380e7ccc7ead1e3f388a895e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "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": [ + 0.325251102363186, + 0.35953645784611193, + 1.1567683594183076 + ], + "current_z": 1.1567683594183076, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30018179240509724, + "gripper_z": 1.149942034480037, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32022060901079186, + 0.3544160497906938, + 1.149942034480037 + ], + "object_minus_gripper": [ + 0.005030493352394139, + 0.005120408055418135, + 0.006826324938270512 + ], + "object_to_gripper_xy": 0.007178052801594075, + "object_to_gripper_z": 0.006826324938270512, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.325251102363186, + 0.3355071906093036, + 1.1567683594183076 + ], + "finger_b": [ + 0.31383095395236327, + 0.35953645784611193, + 1.1567683594183076 + ], + "finger_midpoint": [ + 0.31954102815777463, + 0.3475218242277078, + 1.1567683594183076 + ], + "object_minus_finger_midpoint": [ + 0.005710074205411364, + 0.012014633618404158, + 0.0 + ], + "finger_gap": 0.026604989638471323, + "fingertip_max_gap": 0.0906094758060346, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013302494819235662, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1567683594183076, + "object_top_z": 1.2024456513016224, + "finger_top_clearance": 0.04567729188331482, + "fingertip_min_top_clearance": 0.013703187564994446, + "object_projection_between_fingers": 0.8157458376706009, + "object_to_finger_line_xy": 0.01031452377079138, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478047379030173, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6434393469382164, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33433639232159196, + -0.350674537898729, + 0.8470197247921847 + ], + "target_position": [ + 0.32636138357784295, + -0.3525539014721754, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008193459092719662, + "xy_threshold": 0.08, + "gripper_dist": 0.18908518124891224, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197247921847, + "min_z": 0.5730800627579278, + "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": 0.0754200594767398, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08607595732893956, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15764005878065315, + "release_required_pad_clearance": 0.053037978664469784, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1064013825562, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008185923099517822, + "max_z_decrease": 0.008185923099517822, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034992559441586336, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008185923099517822, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02105226975730308, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008185923099517822, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00818595385047192, + "max_button_displacement": 0.12, + "button_start": [ + 0.1820613145828247, + -0.40881535410881037, + 0.7768088579177856 + ], + "button_final": [ + 0.1820613145828247, + -0.40881535410881037, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18164119972899795, + -0.40920858140167427, + 0.8036103871741518 + ], + "closest_button": [ + 0.18207867443561554, + -0.4088011384010315, + 0.7686229348182678 + ], + "closest_ee_minus_button": [ + -0.000437474706617591, + -0.00040744300064277095, + 0.03498745235588396 + ], + "button_min_z_position": [ + 0.18207867443561554, + -0.4088011384010315, + 0.7686229348182678 + ], + "min_active_finger_to_button": 0.1461860101654767, + "closest_active_finger": [ + 0.04073021560907364, + -0.39462316036224365, + 0.8093423843383789 + ], + "closest_active_finger_button": [ + 0.18206718564033508, + -0.40882039070129395, + 0.7748076319694519 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14133697003126144, + 0.014197230339050293, + 0.034534752368927 + ], + "min_contact_pad_to_button": 0.02105226975730308, + "closest_contact_pad": [ + 0.18207867443561554, + -0.4102510711267048, + 0.7896252146236908 + ], + "closest_contact_pad_button": [ + 0.18207867443561554, + -0.4088011384010315, + 0.7686229348182678 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014499327256732863, + 0.02100227980542302 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ceb9eedfe6fff3b60c2b9f8ea111f079fe11a62580d41ae1178f1b4667c806e", + "visual_seed": 6619088131078330924, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4297955bdc07ff4bca1460f5bea93b6c6e194d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "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": [ + 0.3239689203181019, + 0.3656638974659856, + 1.1572544877971853 + ], + "current_z": 1.1572544877971853, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.3006680995979092, + "gripper_z": 1.1504688830663707, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31886528064745456, + 0.3605293634167064, + 1.1504688830663707 + ], + "object_minus_gripper": [ + 0.005103639670647364, + 0.005134534049279216, + 0.006785604730814576 + ], + "object_to_gripper_xy": 0.007239515024572651, + "object_to_gripper_z": 0.006785604730814576, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3239689203181019, + 0.3415646020376099, + 1.1572544877971853 + ], + "finger_b": [ + 0.31253896629947137, + 0.3656638974659856, + 1.1572544877971853 + ], + "finger_midpoint": [ + 0.31825394330878665, + 0.3536142497517978, + 1.1572544877971853 + ], + "object_minus_finger_midpoint": [ + 0.005714977009315281, + 0.012049647714187817, + 0.0 + ], + "finger_gap": 0.02667245562396043, + "fingertip_max_gap": 0.09072446499215661, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013336227811980189, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1572544877971853, + "object_top_z": 1.2030301281227591, + "finger_top_clearance": 0.045775640325573796, + "fingertip_min_top_clearance": 0.013732692097672139, + "object_projection_between_fingers": 0.8163618266992535, + "object_to_finger_line_xy": 0.01032727704232383, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786223249607831, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8801421747492851, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 390, + "max_stable_success_frames": 390, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3323930932157632, + -0.35677074470346215, + 0.847019642492134 + ], + "target_position": [ + 0.3252265650703655, + -0.3584683541775567, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007364849189583782, + "xy_threshold": 0.08, + "gripper_dist": 0.18481811723311112, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019642492134, + "min_z": 0.5730800627579278, + "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": 0.07584734999992349, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850555167584081, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152495263793087, + "release_required_pad_clearance": 0.05252775837920405, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.12511431712347046, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008447587490081787, + "max_z_decrease": 0.008447587490081787, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499914198920189, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008447587490081787, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020971001046664786, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008447587490081787, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00844767277602843, + "max_button_displacement": 0.12, + "button_start": [ + 0.18092648684978482, + -0.4147298038005829, + 0.7768088579177856 + ], + "button_final": [ + 0.18092648684978482, + -0.4147298038005829, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18100280414919453, + -0.41413378024999553, + 0.8035466702611762 + ], + "closest_button": [ + 0.1809496283531189, + -0.41470944881439203, + 0.768552303314209 + ], + "closest_ee_minus_button": [ + 5.317579607563849e-05, + 0.0005756685643965032, + 0.034994366946967226 + ], + "button_min_z_position": [ + 0.18095193803310392, + -0.41470164060592646, + 0.7683612704277039 + ], + "min_active_finger_to_button": 0.14550803303566548, + "closest_active_finger": [ + 0.054918915033340454, + -0.47885647416114807, + 0.8107243776321411 + ], + "closest_active_finger_button": [ + 0.1809299737215042, + -0.41473236680030817, + 0.7763456106185913 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12601105868816376, + -0.0641241073608399, + 0.034378767013549805 + ], + "min_contact_pad_to_button": 0.020971001046664786, + "closest_contact_pad": [ + 0.18095193803310392, + -0.4151275736232065, + 0.7893279455566795 + ], + "closest_contact_pad_button": [ + 0.18095193803310392, + -0.41470164060592646, + 0.7683612704277039 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004259330172800557, + 0.020966675128975654 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5be8df26d7fa379088a9669eb7f47042c18d085dc28ca75083093f33c095e8ae", + "visual_seed": 6624314756435019863, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25668b4b7a3b0f86f23e140c713b129d6a32da5e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "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": [ + 0.3238502176963093, + 0.35784718417471034, + 1.1574220835416607 + ], + "current_z": 1.1574220835416607, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30083563573773986, + "gripper_z": 1.1506226199697585, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31879411713568273, + 0.3527414943215127, + 1.1506226199697585 + ], + "object_minus_gripper": [ + 0.005056100560626553, + 0.005105689853197648, + 0.006799463571902198 + ], + "object_to_gripper_xy": 0.007185556468097204, + "object_to_gripper_z": 0.006799463571902198, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3238502176963093, + 0.33373471652300185, + 1.1574220835416607 + ], + "finger_b": [ + 0.3125332262610706, + 0.35784718417471034, + 1.1574220835416607 + ], + "finger_midpoint": [ + 0.31819172197868995, + 0.3457909503488561, + 1.1574220835416607 + ], + "object_minus_finger_midpoint": [ + 0.0056584957176193384, + 0.012056233825854246, + 0.0 + ], + "finger_gap": 0.026636166980253635, + "fingertip_max_gap": 0.09065699661708124, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013318083490126817, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1574220835416607, + "object_top_z": 1.2031378345780603, + "finger_top_clearance": 0.04571575103639969, + "fingertip_min_top_clearance": 0.013714725310919907, + "object_projection_between_fingers": 0.8194828298119714, + "object_to_finger_line_xy": 0.01024473942137209, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782849830854062, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6958842500439146, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33186752285826, + -0.3539449103524258, + 0.847019496180631 + ], + "target_position": [ + 0.32412306938475777, + -0.355750319591079, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007952110545148055, + "xy_threshold": 0.08, + "gripper_dist": 0.18833892648358397, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019496180631, + "min_z": 0.5730800627579278, + "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": 0.07577376218391509, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506791678849078, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15603313999842527, + "release_required_pad_clearance": 0.05253395839424539, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.13705601392173594, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008268415927886963, + "max_z_decrease": 0.008268415927886963, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500935969740715, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008268415927886963, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021032496136933507, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008268415927886963, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008268431313006579, + "max_button_displacement": 0.12, + "button_start": [ + 0.17982299625873566, + -0.4120117723941803, + 0.7768088579177856 + ], + "button_final": [ + 0.17982299625873566, + -0.4120117723941803, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18044265539884205, + -0.4116325377790148, + 0.8035422994320862 + ], + "closest_button": [ + 0.1798163801431656, + -0.4119972586631775, + 0.7685404419898987 + ], + "closest_ee_minus_button": [ + 0.0006262752556764617, + 0.00036472088416267257, + 0.035001857442187534 + ], + "button_min_z_position": [ + 0.1798163801431656, + -0.4119972586631775, + 0.7685404419898987 + ], + "min_active_finger_to_button": 0.14514431437430006, + "closest_active_finger": [ + 0.05392126739025116, + -0.4754669964313507, + 0.8110324144363403 + ], + "closest_active_finger_button": [ + 0.17982713878154755, + -0.4120136499404907, + 0.7765613198280334 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1259058713912964, + -0.06345334649085999, + 0.034471094608306885 + ], + "min_contact_pad_to_button": 0.021032496136933507, + "closest_contact_pad": [ + 0.1798163801431656, + -0.41272441140604815, + 0.7895603645073263 + ], + "closest_contact_pad_button": [ + 0.1798163801431656, + -0.4119972586631775, + 0.7685404419898987 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007271527428706626, + 0.02101992251742757 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1ec2c10d533fefcae563a20207f5d684e95d61b69fffc0f99658ab7c3c4e880", + "visual_seed": 1425492072163055169, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c603b68842488f968c05480fb7228dda76a0f5fd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "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": [ + 0.32322254352449953, + 0.36085352637991913, + 1.1541880445936115 + ], + "current_z": 1.1541880445936115, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.29760165639433545, + "gripper_z": 1.147364960892512, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.318002379209953, + 0.3558154893082537, + 1.147364960892512 + ], + "object_minus_gripper": [ + 0.005220164314546527, + 0.0050380370716654466, + 0.006823083701099408 + ], + "object_to_gripper_xy": 0.00725478690288973, + "object_to_gripper_z": 0.006823083701099408, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32322254352449953, + 0.33655944800845883, + 1.1541880445936115 + ], + "finger_b": [ + 0.31208581998508567, + 0.36085352637991913, + 1.1541880445936115 + ], + "finger_midpoint": [ + 0.3176541817547926, + 0.34870648719418895, + 1.1541880445936115 + ], + "object_minus_finger_midpoint": [ + 0.005568361769706931, + 0.01214703918573018, + 0.0 + ], + "finger_gap": 0.026725060432335603, + "fingertip_max_gap": 0.09050051002841422, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013362530216167828, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1541880445936115, + "object_top_z": 1.199859069544426, + "finger_top_clearance": 0.04567102495081454, + "fingertip_min_top_clearance": 0.013701307485244363, + "object_projection_between_fingers": 0.8263489212097324, + "object_to_finger_line_xy": 0.010123697761238757, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775025501420711, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7045033006679826, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33691722120841394, + -0.3506593840504977, + 0.8470194402911613 + ], + "target_position": [ + 0.32658871836541464, + -0.3538108794534064, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010798606125440419, + "xy_threshold": 0.08, + "gripper_dist": 0.1907292353752646, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194402911613, + "min_z": 0.5730800627579278, + "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": 0.0754635809128353, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08611842578255662, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15927088010425658, + "release_required_pad_clearance": 0.05305921289127831, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1480625123800523, + "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": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008180856704711914, + "max_z_decrease": 0.008180856704711914, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504994492104163, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008180856704711914, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021098784580739372, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008180856704711914, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008180859335922363, + "max_button_displacement": 0.12, + "button_start": [ + 0.18228864669799805, + -0.41007232666015625, + 0.7768088579177856 + ], + "button_final": [ + 0.18228864669799805, + -0.41007232666015625, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18006476029469679, + -0.40939764771733844, + 0.8036012361200349 + ], + "closest_button": [ + 0.18228308856487274, + -0.4100688397884369, + 0.7686280012130737 + ], + "closest_ee_minus_button": [ + -0.0022183282701759566, + 0.0006711920710984476, + 0.03497323490696114 + ], + "button_min_z_position": [ + 0.18228308856487274, + -0.4100688397884369, + 0.7686280012130737 + ], + "min_active_finger_to_button": 0.1475705253087797, + "closest_active_finger": [ + 0.05269777774810791, + -0.4715495705604553, + 0.8077948093414307 + ], + "closest_active_finger_button": [ + 0.1822998821735382, + -0.4100784957408905, + 0.7731298208236694 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1296021044254303, + -0.06147107481956482, + 0.03466498851776123 + ], + "min_contact_pad_to_button": 0.021098784580739372, + "closest_contact_pad": [ + 0.18228308856487274, + -0.41066122329592475, + 0.7897184680776195 + ], + "closest_contact_pad_button": [ + 0.18228308856487274, + -0.4100688397884369, + 0.7686280012130737 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005923835074878592, + 0.021090466864545743 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "019de1a70d98944eec29caf6bddf69a429123d23af0a1dd91145804de9eae245", + "visual_seed": 5290068862172274506, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..91f9d4ef67baaba44ae3967ae3e3c4989a821bb5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "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": [ + 0.3213819668451678, + 0.3609835209887351, + 1.156597129653427 + ], + "current_z": 1.156597129653427, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3000106222448614, + "gripper_z": 1.149769755786822, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31604424472564263, + 0.35598232181008765, + 1.149769755786822 + ], + "object_minus_gripper": [ + 0.005337722119525157, + 0.005001199178647442, + 0.006827373866604924 + ], + "object_to_gripper_xy": 0.007314592992762617, + "object_to_gripper_z": 0.006827373866604924, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3213819668451678, + 0.33652303972381803, + 1.156597129653427 + ], + "finger_b": [ + 0.3104133303474276, + 0.3609835209887351, + 1.156597129653427 + ], + "finger_midpoint": [ + 0.31589764859629765, + 0.34875328035627656, + 1.156597129653427 + ], + "object_minus_finger_midpoint": [ + 0.005484318248870135, + 0.012230240632458533, + 0.0 + ], + "finger_gap": 0.026807202956125757, + "fingertip_max_gap": 0.09057459100459578, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01340360147806289, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156597129653427, + "object_top_z": 1.2022479217536992, + "finger_top_clearance": 0.04565079210027223, + "fingertip_min_top_clearance": 0.013695237630081668, + "object_projection_between_fingers": 0.8325819483294365, + "object_to_finger_line_xy": 0.010008434225449501, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778729550229789, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7479196114858921, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3357705056359629, + -0.35461534872453193, + 0.847019593651769 + ], + "target_position": [ + 0.3271748606492127, + -0.35718873203498197, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008972592401349042, + "xy_threshold": 0.08, + "gripper_dist": 0.18595507805953027, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019593651769, + "min_z": 0.5730800627579278, + "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": 0.07568861480573136, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08616061508223836, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15408731390462269, + "release_required_pad_clearance": 0.053080307541119184, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1889223491606777, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008478879928588867, + "max_z_decrease": 0.008478879928588867, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500315634786305, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008478879928588867, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021043796910103264, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008478879928588867, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008478954113176083, + "max_button_displacement": 0.12, + "button_start": [ + 0.18287478387355804, + -0.41345018148422236, + 0.7768088579177856 + ], + "button_final": [ + 0.18287478387355804, + -0.41345018148422236, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18324953818708775, + -0.4130299872004056, + 0.8033286053405284 + ], + "closest_button": [ + 0.18284904956817627, + -0.41342577338218683, + 0.7683299779891968 + ], + "closest_ee_minus_button": [ + 0.000400488618911482, + 0.0003957861817812103, + 0.034998627351331635 + ], + "button_min_z_position": [ + 0.18284904956817627, + -0.41342577338218683, + 0.7683299779891968 + ], + "min_active_finger_to_button": 0.1453756292560717, + "closest_active_finger": [ + 0.05683499574661255, + -0.47712796926498413, + 0.8108683228492737 + ], + "closest_active_finger_button": [ + 0.18287883698940277, + -0.4134520590305328, + 0.7763371467590332 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12604384124279022, + -0.06367591023445135, + 0.03453117609024048 + ], + "min_contact_pad_to_button": 0.021043796910103264, + "closest_contact_pad": [ + 0.18284904956817627, + -0.4140959238496153, + 0.7893631015504912 + ], + "closest_contact_pad_button": [ + 0.18284904956817627, + -0.41342577338218683, + 0.7683299779891968 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006701504674284653, + 0.021033123561294387 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "327ee10bc341ca54534e0468099db87c0e8b64981e1b413ac36276751659c9aa", + "visual_seed": 4694625792686664926, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..72b6938ad1835c514dcc0213c15ab5d6c97b571d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "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": [ + 0.32371640901708765, + 0.35775797405752136, + 1.1544716124368637 + ], + "current_z": 1.1544716124368637, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2978851050282981, + "gripper_z": 1.1476655686918902, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31845615990570986, + 0.3527676405950686, + 1.1476655686918902 + ], + "object_minus_gripper": [ + 0.0052602491113777905, + 0.004990333462452756, + 0.006806043744973511 + ], + "object_to_gripper_xy": 0.00725076884062832, + "object_to_gripper_z": 0.006806043744973511, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32371640901708765, + 0.33335197595021915, + 1.1544716124368637 + ], + "finger_b": [ + 0.31275536660032527, + 0.35775797405752136, + 1.1544716124368637 + ], + "finger_midpoint": [ + 0.3182358878087065, + 0.3455549750038702, + 1.1544716124368637 + ], + "object_minus_finger_midpoint": [ + 0.005480521208381162, + 0.012202999053651131, + 0.0 + ], + "finger_gap": 0.026754386452985668, + "fingertip_max_gap": 0.09049527955445216, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013377193226492848, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1544716124368637, + "object_top_z": 1.2001834327481151, + "finger_top_clearance": 0.04571182031125143, + "fingertip_min_top_clearance": 0.013713546093375462, + "object_projection_between_fingers": 0.8321529452905081, + "object_to_finger_line_xy": 0.009998927874786233, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047747639777226084, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7567539852683552, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3326429744809094, + -0.34971711918490156, + 0.8470197896857881 + ], + "target_position": [ + 0.32376600195643634, + -0.3522353696719969, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009227254560052281, + "xy_threshold": 0.08, + "gripper_dist": 0.18784431751850925, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197896857881, + "min_z": 0.5730800627579278, + "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": 0.07552849709809593, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592237238113191, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1563224025065182, + "release_required_pad_clearance": 0.05296118619056596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9569444622395211, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008216261863708496, + "max_z_decrease": 0.008216261863708496, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508173468002181, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008216261863708496, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02110943735624231, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008216261863708496, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00821628739702516, + "max_button_displacement": 0.12, + "button_start": [ + 0.17946593463420868, + -0.40849682688713074, + 0.7768088579177856 + ], + "button_final": [ + 0.17946593463420868, + -0.40849682688713074, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18132951331588257, + -0.40983013527497597, + 0.8035985643116134 + ], + "closest_button": [ + 0.1794646680355072, + -0.4084763824939728, + 0.7685925960540771 + ], + "closest_ee_minus_button": [ + 0.0018648452803753657, + -0.0013537527810031924, + 0.03500596825753621 + ], + "button_min_z_position": [ + 0.1794646680355072, + -0.4084763824939728, + 0.7685925960540771 + ], + "min_active_finger_to_button": 0.1438710543623178, + "closest_active_finger": [ + 0.04033927619457245, + -0.39606690406799316, + 0.810442328453064 + ], + "closest_active_finger_button": [ + 0.17946955561637878, + -0.408500611782074, + 0.775988757610321 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13913027942180634, + 0.01243370771408081, + 0.03445357084274292 + ], + "min_contact_pad_to_button": 0.02110943735624231, + "closest_contact_pad": [ + 0.1794646680355072, + -0.4107968455581745, + 0.789574106883014 + ], + "closest_contact_pad_button": [ + 0.1794646680355072, + -0.4084763824939728, + 0.7685925960540771 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023204630642016943, + 0.020981510828936845 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "509c4cd5c526b25433de55f2fd9b02ab4f49b59773545fa7eae22c082c9dd29d", + "visual_seed": 1971117043954888959, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..047e499ff3be3d942afbff7028470488a9242431 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "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": [ + 0.3273411398018972, + 0.36408484307142586, + 1.1560277495426257 + ], + "current_z": 1.1560277495426257, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.29944112292477054, + "gripper_z": 1.1491716841457842, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32216659487642063, + 0.35907254983228143, + 1.1491716841457842 + ], + "object_minus_gripper": [ + 0.005174544925476587, + 0.0050122932391444275, + 0.006856065396841471 + ], + "object_to_gripper_xy": 0.007204095966944669, + "object_to_gripper_z": 0.006856065396841471, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3273411398018972, + 0.3397792094363706, + 1.1560277495426257 + ], + "finger_b": [ + 0.3163066147728436, + 0.36408484307142586, + 1.1560277495426257 + ], + "finger_midpoint": [ + 0.3218238772873704, + 0.3519320262538982, + 1.1560277495426257 + ], + "object_minus_finger_midpoint": [ + 0.005517262514526833, + 0.012152816817527667, + 0.0 + ], + "finger_gap": 0.02669315584599058, + "fingertip_max_gap": 0.09069808400803345, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013346577922995326, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1560277495426257, + "object_top_z": 1.2016836778309785, + "finger_top_clearance": 0.045655928288352854, + "fingertip_min_top_clearance": 0.013696778486505856, + "object_projection_between_fingers": 0.8291136223069996, + "object_to_finger_line_xy": 0.01004756141388617, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047849042004016726, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6507829413142385, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33001664150480503, + -0.3556425896093458, + 0.847019833935386 + ], + "target_position": [ + 0.32150808378783435, + -0.3577678485997861, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008769964663524511, + "xy_threshold": 0.08, + "gripper_dist": 0.1874550006632668, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019833935386, + "min_z": 0.5730800627579278, + "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": 0.07526346256455038, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08584047913835101, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15644151795982264, + "release_required_pad_clearance": 0.052920239569175506, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8784806141157719, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008207917213439941, + "max_z_decrease": 0.008207917213439941, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350170082175139, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008207917213439941, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021186437800935164, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008207917213439941, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008207924598225558, + "max_button_displacement": 0.12, + "button_start": [ + 0.17720800638198853, + -0.4140293002128601, + 0.7768088579177856 + ], + "button_final": [ + 0.17720800638198853, + -0.4140293002128601, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17656455188503078, + -0.4151906844922465, + 0.8035924774035488 + ], + "closest_button": [ + 0.17720475792884827, + -0.41401877999305725, + 0.7686009407043457 + ], + "closest_ee_minus_button": [ + -0.0006402060438174817, + -0.0011719044991892469, + 0.034991536699203074 + ], + "button_min_z_position": [ + 0.17720475792884827, + -0.41401877999305725, + 0.7686009407043457 + ], + "min_active_finger_to_button": 0.1463358040676914, + "closest_active_finger": [ + 0.03593479096889496, + -0.398051917552948, + 0.8082924485206604 + ], + "closest_active_finger_button": [ + 0.17721614241600037, + -0.4140357971191406, + 0.7736765146255493 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1412813514471054, + 0.015983879566192627, + 0.034615933895111084 + ], + "min_contact_pad_to_button": 0.021186437800935164, + "closest_contact_pad": [ + 0.17720475792884827, + -0.4164606640774126, + 0.7896461859823525 + ], + "closest_contact_pad_button": [ + 0.17720475792884827, + -0.41401877999305725, + 0.7686009407043457 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024418840843553613, + 0.021045245278006774 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ef6b241e4c20d40f135d191fc7a3813386e87d241c6256e3a029fd716698b1c", + "visual_seed": 4703046022834601973, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8462d60ddb311a20e6086f887c84c5b930638a2b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "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": [ + 0.3255923988627752, + 0.36098895135390985, + 1.1542250073889722 + ], + "current_z": 1.1542250073889722, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2976384999804066, + "gripper_z": 1.1473956966673675, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3203111364417972, + 0.3559944817343875, + 1.1473956966673675 + ], + "object_minus_gripper": [ + 0.0052812624209779835, + 0.004994469619522324, + 0.006829310721604642 + ], + "object_to_gripper_xy": 0.007268869206387311, + "object_to_gripper_z": 0.006829310721604642, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3255923988627752, + 0.3365494815482661, + 1.1542250073889722 + ], + "finger_b": [ + 0.31465941397394526, + 0.36098895135390985, + 1.1542250073889722 + ], + "finger_midpoint": [ + 0.32012590641836025, + 0.34876921645108794, + 1.1542250073889722 + ], + "object_minus_finger_midpoint": [ + 0.005466492444414939, + 0.01221973490282191, + 0.0 + ], + "finger_gap": 0.02677345407227758, + "fingertip_max_gap": 0.09058471833843965, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013386727036138805, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1542250073889722, + "object_top_z": 1.199910571389422, + "finger_top_clearance": 0.045685564000449874, + "fingertip_min_top_clearance": 0.013705669200134928, + "object_projection_between_fingers": 0.8332489073015525, + "object_to_finger_line_xy": 0.009979898497773037, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047792359169219825, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6523546765432384, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3287998639845079, + -0.35060160018192243, + 0.8470195990481939 + ], + "target_position": [ + 0.3200679269936465, + -0.3529337896476822, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009038021427092004, + "xy_threshold": 0.08, + "gripper_dist": 0.18786062752707874, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195990481939, + "min_z": 0.5730800627579278, + "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": 0.07523138663492268, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558858848719418, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15716754704314795, + "release_required_pad_clearance": 0.05279429424359709, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6355036478627206, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008235514163970947, + "max_z_decrease": 0.008235514163970947, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506559823157898, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008235514163970947, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02101010154136207, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008235514163970947, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008235559178309355, + "max_button_displacement": 0.12, + "button_start": [ + 0.1757678538560867, + -0.4091952443122864, + 0.7768088579177856 + ], + "button_final": [ + 0.1757678538560867, + -0.4091952443122864, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17520186419296466, + -0.40700055364556254, + 0.8035660832702242 + ], + "closest_button": [ + 0.17579139769077295, + -0.4091815650463104, + 0.7685733437538147 + ], + "closest_ee_minus_button": [ + -0.0005895334978082978, + 0.00218101140074789, + 0.034992739516409466 + ], + "button_min_z_position": [ + 0.17579139769077295, + -0.4091815650463104, + 0.7685733437538147 + ], + "min_active_finger_to_button": 0.14538865017222863, + "closest_active_finger": [ + 0.04815314710140228, + -0.46973440051078796, + 0.8107469081878662 + ], + "closest_active_finger_button": [ + 0.17577116191387174, + -0.4091975688934326, + 0.7762970328330994 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12761801481246945, + -0.06053683161735535, + 0.034449875354766846 + ], + "min_contact_pad_to_button": 0.02101010154136207, + "closest_contact_pad": [ + 0.17579139769077295, + -0.4091815650463104, + 0.7895834452951768 + ], + "closest_contact_pad_button": [ + 0.17579139769077295, + -0.4091815650463104, + 0.7685733437538147 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02101010154136207 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3e2406cecd8399ab1bd63e65c7ca3cd987c5a50c70e9cde89342d5a27ba42af5", + "visual_seed": 2109831107607638779, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..31e39342b1c82c851cf48acf298dc841308e6bdf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "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": [ + 0.3228303370875927, + 0.361971982987352, + 1.1567852193835888 + ], + "current_z": 1.1567852193835888, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.30019865237037835, + "gripper_z": 1.1500302957041577, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3177015362292751, + 0.35687889213437535, + 1.1500302957041577 + ], + "object_minus_gripper": [ + 0.005128800858317573, + 0.005093090852976656, + 0.006754923679431091 + ], + "object_to_gripper_xy": 0.0072280130520741, + "object_to_gripper_z": 0.006754923679431091, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3228303370875927, + 0.33769912531394947, + 1.1567852193835888 + ], + "finger_b": [ + 0.31166461456375055, + 0.361971982987352, + 1.1567852193835888 + ], + "finger_midpoint": [ + 0.3172474758256716, + 0.3498355541506507, + 1.1567852193835888 + ], + "object_minus_finger_midpoint": [ + 0.0055828612619210904, + 0.012136428836701296, + 0.0 + ], + "finger_gap": 0.026717877518857888, + "fingertip_max_gap": 0.09080446314159349, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01335893875942898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1567852193835888, + "object_top_z": 1.2026038453587646, + "finger_top_clearance": 0.04581862597517583, + "fingertip_min_top_clearance": 0.01374558779255275, + "object_projection_between_fingers": 0.8253495322830396, + "object_to_finger_line_xy": 0.010143919308359416, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04790223157079675, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8640125307857339, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 383, + "max_stable_success_frames": 383, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32820786473080005, + -0.3527808892532524, + 0.8470197364618163 + ], + "target_position": [ + 0.31943784207974174, + -0.35515845523402895, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009086589970556704, + "xy_threshold": 0.08, + "gripper_dist": 0.1885407854918311, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197364618163, + "min_z": 0.5730800627579278, + "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": 0.0751863663260325, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578553588547781, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15774869940616273, + "release_required_pad_clearance": 0.05289276794273891, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8251885555748868, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0081099271774292, + "max_z_decrease": 0.0081099271774292, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502234176552309, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0081099271774292, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021059231918347483, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0081099271774292, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00810994993780336, + "max_button_displacement": 0.12, + "button_start": [ + 0.175137773156166, + -0.411419928073883, + 0.7768088579177856 + ], + "button_final": [ + 0.175137773156166, + -0.411419928073883, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17580929362425263, + -0.4115889751496492, + 0.8037145813754375 + ], + "closest_button": [ + 0.17514990270137776, + -0.41140502691268915, + 0.7686989307403564 + ], + "closest_ee_minus_button": [ + 0.0006593909228748696, + -0.00018394823696005203, + 0.03501565063508105 + ], + "button_min_z_position": [ + 0.17514990270137776, + -0.41140502691268915, + 0.7686989307403564 + ], + "min_active_finger_to_button": 0.1451403294303812, + "closest_active_finger": [ + 0.03505343198776245, + -0.3955983519554138, + 0.8093267679214478 + ], + "closest_active_finger_button": [ + 0.1751437634229659, + -0.41142493486404413, + 0.7748313546180725 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14009033143520344, + 0.015826582908630316, + 0.034495413303375244 + ], + "min_contact_pad_to_button": 0.021059231918347483, + "closest_contact_pad": [ + 0.17514990270137776, + -0.4127573317825069, + 0.7897146991186436 + ], + "closest_contact_pad_button": [ + 0.17514990270137776, + -0.41140502691268915, + 0.7686989307403564 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013523048698177442, + 0.021015768378287114 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c64d568fdf539973238a7becf0afd9b07233fd60ba2845aa99d83ca897910163", + "visual_seed": 5263604712079116727, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c7334c8cdb7fe4ef27291c223429312b0d4a50bf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "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": [ + 0.3273500353187096, + 0.36198385711319486, + 1.1547018426260214 + ], + "current_z": 1.1547018426260214, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29811527561281104, + "gripper_z": 1.147849945495666, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3220659584013822, + 0.3570346992268893, + 1.147849945495666 + ], + "object_minus_gripper": [ + 0.005284076917327407, + 0.004949157886305566, + 0.006851897130355278 + ], + "object_to_gripper_xy": 0.007239864132137626, + "object_to_gripper_z": 0.006851897130355278, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3273500353187096, + 0.337521010111171, + 1.1547018426260214 + ], + "finger_b": [ + 0.31650625219689743, + 0.36198385711319486, + 1.1547018426260214 + ], + "finger_midpoint": [ + 0.32192814375780354, + 0.34975243361218294, + 1.1547018426260214 + ], + "object_minus_finger_midpoint": [ + 0.005421891560906056, + 0.012231423501011918, + 0.0 + ], + "finger_gap": 0.026758522302947244, + "fingertip_max_gap": 0.09056296121288424, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01337926115147361, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1547018426260214, + "object_top_z": 1.2003562904652962, + "finger_top_clearance": 0.04565444783927486, + "fingertip_min_top_clearance": 0.013696334351782457, + "object_projection_between_fingers": 0.8357757099962849, + "object_to_finger_line_xy": 0.00991346997523857, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778148060644212, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8034062914355465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3281049161101678, + -0.3495800556817203, + 0.8470195862547378 + ], + "target_position": [ + 0.3197824218889444, + -0.3517645040856963, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00860440148365533, + "xy_threshold": 0.08, + "gripper_dist": 0.18687219316723613, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195862547378, + "min_z": 0.5730800627579278, + "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": 0.07587307481435523, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08707418240680097, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15449700375850017, + "release_required_pad_clearance": 0.053537091203400486, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0853539871293396, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00812762975692749, + "max_z_decrease": 0.00812762975692749, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350625623398008, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00812762975692749, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020968905551299488, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00812762975692749, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008127671461636485, + "max_button_displacement": 0.12, + "button_start": [ + 0.1754823476076126, + -0.4080259501934051, + 0.7768088579177856 + ], + "button_final": [ + 0.1754823476076126, + -0.4080259501934051, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17466354671269688, + -0.4061625182901678, + 0.8036850144411126 + ], + "closest_button": [ + 0.17550300061702725, + -0.40801009535789484, + 0.7686812281608582 + ], + "closest_ee_minus_button": [ + -0.0008394539043303784, + 0.0018475770677270353, + 0.03500378628025447 + ], + "button_min_z_position": [ + 0.17550300061702725, + -0.40801009535789484, + 0.7686812281608582 + ], + "min_active_finger_to_button": 0.14569508436469736, + "closest_active_finger": [ + 0.048119060695171356, + -0.4698873460292816, + 0.8107497692108154 + ], + "closest_active_finger_button": [ + 0.1754850000143051, + -0.4080291390419006, + 0.7764199376106262 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12736593931913373, + -0.06185820698738104, + 0.03432983160018921 + ], + "min_contact_pad_to_button": 0.020968905551299488, + "closest_contact_pad": [ + 0.17550300061702725, + -0.40801009535789484, + 0.7896501337121576 + ], + "closest_contact_pad_button": [ + 0.17550300061702725, + -0.40801009535789484, + 0.7686812281608582 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020968905551299488 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "166fcad86dc8157fa38b3ac7fc532eb40cfc0173f49ec02ef7052bd3726a6588", + "visual_seed": 7505093232216740220, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..86537e61ac849635b7f6fda2b32fcf190aa4e969 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "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": [ + 0.32403831046130877, + 0.363703333165908, + 1.1545959418268767 + ], + "current_z": 1.1545959418268767, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2980094344183112, + "gripper_z": 1.1477801558144591, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3188488793102323, + 0.3587248349865814, + 1.1477801558144591 + ], + "object_minus_gripper": [ + 0.005189431151076451, + 0.004978498179326607, + 0.006815786012417613 + ], + "object_to_gripper_xy": 0.007191358688962817, + "object_to_gripper_z": 0.006815786012417613, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32403831046130877, + 0.3393470836495562, + 1.1545959418268767 + ], + "finger_b": [ + 0.3130933511931644, + 0.363703333165908, + 1.1545959418268767 + ], + "finger_midpoint": [ + 0.31856583082723655, + 0.3515252084077321, + 1.1545959418268767 + ], + "object_minus_finger_midpoint": [ + 0.005472479634072214, + 0.012178124758175923, + 0.0 + ], + "finger_gap": 0.026702416068291067, + "fingertip_max_gap": 0.09060269046094224, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013351208034145546, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1545959418268767, + "object_top_z": 1.2003143532427372, + "finger_top_clearance": 0.045718411415860416, + "fingertip_min_top_clearance": 0.013715523424758125, + "object_projection_between_fingers": 0.8319930754038247, + "object_to_finger_line_xy": 0.009983297324087146, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780134523047112, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8666509587816144, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 385, + "max_stable_success_frames": 385, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33312764143154777, + -0.35768952988005714, + 0.8470191199043715 + ], + "target_position": [ + 0.3243012609648679, + -0.36030701933619913, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009206315397356463, + "xy_threshold": 0.08, + "gripper_dist": 0.18996129256794042, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191199043715, + "min_z": 0.5730800627579278, + "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": 0.07513965192715358, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08604443120201248, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15936428570935757, + "release_required_pad_clearance": 0.05302221560100624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0740946941849692, + "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": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008457183837890625, + "max_z_decrease": 0.008457183837890625, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502364062965272, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008457183837890625, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0209630220517547, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008457183837890625, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008457282409968285, + "max_button_displacement": 0.12, + "button_start": [ + 0.18000118434429166, + -0.4165684878826141, + 0.7768088579177856 + ], + "button_final": [ + 0.18000118434429166, + -0.4165684878826141, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18086923850813827, + -0.4155766818681684, + 0.8035434670934248 + ], + "closest_button": [ + 0.18002645671367645, + -0.41654723882675165, + 0.7685434222221375 + ], + "closest_ee_minus_button": [ + 0.0008427817944618166, + 0.0009705569585832796, + 0.035000044871287384 + ], + "button_min_z_position": [ + 0.18002972006797788, + -0.41653928160667414, + 0.768351674079895 + ], + "min_active_finger_to_button": 0.14465327271831357, + "closest_active_finger": [ + 0.05487130582332611, + -0.48048755526542664, + 0.8107368350028992 + ], + "closest_active_finger_button": [ + 0.1800047010183334, + -0.4165710210800171, + 0.7763729095458984 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1251333951950073, + -0.06391653418540955, + 0.03436392545700073 + ], + "min_contact_pad_to_button": 0.0209630220517547, + "closest_contact_pad": [ + 0.18002972006797788, + -0.41655183997724826, + 0.789314692369962 + ], + "closest_contact_pad_button": [ + 0.18002972006797788, + -0.41653928160667414, + 0.768351674079895 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -1.255837057412279e-05, + 0.02096301829006697 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "33a5dbc61ebd6fa8f5b2dd2dff86f5da6c87a973e9df19ac33f6145b22271b33", + "visual_seed": 4139598497158875057, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8379c85ff6cb8bff606e46371ef8e18eef2fc4a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "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": [ + 0.32662119343585966, + 0.364835000645811, + 1.1549955654152064 + ], + "current_z": 1.1549955654152064, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.29840905800664086, + "gripper_z": 1.1481557329238685, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3215551092935983, + 0.35977882289093166, + 1.1481557329238685 + ], + "object_minus_gripper": [ + 0.00506608414226134, + 0.005056177754879321, + 0.006839832491337905 + ], + "object_to_gripper_xy": 0.0071575234561549505, + "object_to_gripper_z": 0.006839832491337905, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32662119343585966, + 0.34068106402762216, + 1.1549955654152064 + ], + "finger_b": [ + 0.3154224459107101, + 0.364835000645811, + 1.1549955654152064 + ], + "finger_midpoint": [ + 0.3210218196732849, + 0.35275803233671654, + 1.1549955654152064 + ], + "object_minus_finger_midpoint": [ + 0.005599373762574744, + 0.012076968309094438, + 0.0 + ], + "finger_gap": 0.02662376007042442, + "fingertip_max_gap": 0.09062151173701358, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013311880035212225, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1549955654152064, + "object_top_z": 1.2006632049621784, + "finger_top_clearance": 0.04566763954697195, + "fingertip_min_top_clearance": 0.013700291864091618, + "object_projection_between_fingers": 0.8230705507664784, + "object_to_finger_line_xy": 0.01015986611996419, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781075586850679, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6332797155431119, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3362472243001403, + -0.3537850255225763, + 0.8470197125224225 + ], + "target_position": [ + 0.32860880900043027, + -0.3555910948701827, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007849030180806285, + "xy_threshold": 0.08, + "gripper_dist": 0.18635699311164156, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197125224225, + "min_z": 0.5730800627579278, + "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": 0.07570946302645966, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08608053676847664, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1541655463096677, + "release_required_pad_clearance": 0.05304026838423832, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1099324848988057, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008403956890106201, + "max_z_decrease": 0.008403956890106201, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350675658837976, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008403956890106201, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021223809608763047, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008403956890106201, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008404057319615072, + "max_button_displacement": 0.12, + "button_start": [ + 0.18430873751640314, + -0.41185253858566273, + 0.7768088579177856 + ], + "button_final": [ + 0.18430873751640314, + -0.41185253858566273, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18222359838153104, + -0.41325862003627123, + 0.8037260632155924 + ], + "closest_button": [ + 0.18429401516914362, + -0.4118494391441344, + 0.7687480449676514 + ], + "closest_ee_minus_button": [ + -0.002070416787612578, + -0.0014091808921368187, + 0.034978018247941 + ], + "button_min_z_position": [ + 0.18427316844463343, + -0.4118319749832152, + 0.7684049010276794 + ], + "min_active_finger_to_button": 0.14777273480930775, + "closest_active_finger": [ + 0.041440412402153015, + -0.3970516622066498, + 0.8076796531677246 + ], + "closest_active_finger_button": [ + 0.1843180656433105, + -0.4118584096431731, + 0.7729879021644592 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14287765324115748, + 0.014806747436523326, + 0.03469175100326538 + ], + "min_contact_pad_to_button": 0.021223809608763047, + "closest_contact_pad": [ + 0.18427316844463343, + -0.4144009998059067, + 0.7894726537737465 + ], + "closest_contact_pad_button": [ + 0.18427316844463343, + -0.4118319749832152, + 0.7684049010276794 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025690248226915013, + 0.021067752746067092 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4d28377ab9bfbca97457d1695056a5cec8486408f7208032ee408574442aa0f6", + "visual_seed": 8843788264274093625, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..743f55e931372db85d85b82ee7228c892e712f0b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "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": [ + 0.3250588518975976, + 0.3589937482639633, + 1.1551787842067909 + ], + "current_z": 1.1551787842067909, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.2985923364028701, + "gripper_z": 1.1483709894890237, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32002589196179, + 0.353893504891989, + 1.1483709894890237 + ], + "object_minus_gripper": [ + 0.005032959935807602, + 0.005100243371974289, + 0.006807794717767157 + ], + "object_to_gripper_xy": 0.007165414724132311, + "object_to_gripper_z": 0.006807794717767157, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3250588518975976, + 0.33498250944753255, + 1.1551787842067909 + ], + "finger_b": [ + 0.31363231841010825, + 0.3589937482639633, + 1.1551787842067909 + ], + "finger_midpoint": [ + 0.3193455851538529, + 0.3469881288557479, + 1.1551787842067909 + ], + "object_minus_finger_midpoint": [ + 0.005713266743744672, + 0.012005619408215373, + 0.0 + ], + "finger_gap": 0.026591450826165652, + "fingertip_max_gap": 0.09056539912867675, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013295725413082826, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1551787842067909, + "object_top_z": 1.2008903883385678, + "finger_top_clearance": 0.045711604131776884, + "fingertip_min_top_clearance": 0.013713481239533065, + "object_projection_between_fingers": 0.8153518641804437, + "object_to_finger_line_xy": 0.01031779823544183, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778269956433838, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7515648225151111, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 384, + "max_stable_success_frames": 384, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32804624843199504, + -0.35786117371794485, + 0.8470196225172262 + ], + "target_position": [ + 0.3200669902662164, + -0.3595992472980094, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008166361530440825, + "xy_threshold": 0.08, + "gripper_dist": 0.1892814319784151, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196225172262, + "min_z": 0.5730800627579278, + "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": 0.07517872732897159, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08565914893737651, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1583621332776557, + "release_required_pad_clearance": 0.05282957446868826, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7033181772252332, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008219480514526367, + "max_z_decrease": 0.008219480514526367, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034998878152245144, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008219480514526367, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020986797561335268, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008219480514526367, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008219544429129443, + "max_button_displacement": 0.12, + "button_start": [ + 0.17576691508293146, + -0.41586071252822876, + 0.7768088579177856 + ], + "button_final": [ + 0.17576691508293146, + -0.41586071252822876, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1749214863019232, + -0.41542417301322193, + 0.803646230730756 + ], + "closest_button": [ + 0.17579348385334007, + -0.4158479571342468, + 0.7686607837677002 + ], + "closest_ee_minus_button": [ + -0.0008719975514168699, + 0.00042378412102489493, + 0.03498544696305583 + ], + "button_min_z_position": [ + 0.17579600214958185, + -0.41584640741348267, + 0.7685893774032593 + ], + "min_active_finger_to_button": 0.14638556080129536, + "closest_active_finger": [ + 0.047910720109939575, + -0.47828760743141174, + 0.8109468221664429 + ], + "closest_active_finger_button": [ + 0.17577055096626273, + -0.41586270928382874, + 0.7765414714813232 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12785983085632316, + -0.06242489814758301, + 0.03440535068511963 + ], + "min_contact_pad_to_button": 0.020986797561335268, + "closest_contact_pad": [ + 0.17579600214958185, + -0.4166086430969838, + 0.7895623282839357 + ], + "closest_contact_pad_button": [ + 0.17579600214958185, + -0.41584640741348267, + 0.7685893774032593 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007622356835011446, + 0.02097295088067641 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7bae3cf062eb90aa4f1416c53fbdddc74e125c4da63bfc242aa004d6a11a61a2", + "visual_seed": 2164471265191278865, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b49d8e51d4a844f2da40667cfba98e69665547ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "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": [ + 0.3284597124583724, + 0.3637004333914593, + 1.154544473649233 + ], + "current_z": 1.154544473649233, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2979579662406674, + "gripper_z": 1.1477010192190389, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3233077194445936, + 0.3587453565298823, + 1.1477010192190389 + ], + "object_minus_gripper": [ + 0.005151993013778833, + 0.004955076861576979, + 0.006843454430194074 + ], + "object_to_gripper_xy": 0.007148133932584186, + "object_to_gripper_z": 0.006843454430194074, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3284597124583724, + 0.33935636196043334, + 1.154544473649233 + ], + "finger_b": [ + 0.31757533122570636, + 0.3637004333914593, + 1.154544473649233 + ], + "finger_midpoint": [ + 0.32301752184203936, + 0.35152839767594635, + 1.154544473649233 + ], + "object_minus_finger_midpoint": [ + 0.0054421906163330536, + 0.012172035715512952, + 0.0 + ], + "finger_gap": 0.026666525245275345, + "fingertip_max_gap": 0.09073364454407903, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013333262622637659, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.154544473649233, + "object_top_z": 1.200239407801147, + "finger_top_clearance": 0.045694934151913946, + "fingertip_min_top_clearance": 0.01370848024557415, + "object_projection_between_fingers": 0.8334001402330578, + "object_to_finger_line_xy": 0.009936433478804572, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786682227203952, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7091628103858313, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3312162267598207, + -0.35445764842765404, + 0.847018981056741 + ], + "target_position": [ + 0.32304258869554114, + -0.3566844263465514, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008471534637002238, + "xy_threshold": 0.08, + "gripper_dist": 0.1870961707087121, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847018981056741, + "min_z": 0.5730800627579278, + "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": 0.07579269108648953, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08553957314653131, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15502309445466853, + "release_required_pad_clearance": 0.052769786573265656, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5841582745993422, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008329689502716064, + "max_z_decrease": 0.008329689502716064, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500452023091127, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008329689502716064, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021051198878668912, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008329689502716064, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008329732763783198, + "max_button_displacement": 0.12, + "button_start": [ + 0.1787425130605697, + -0.4129458963871001, + 0.7768088579177856 + ], + "button_final": [ + 0.1787425130605697, + -0.4129458963871001, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17928065034333612, + -0.41247038810483266, + 0.8036847895920933 + ], + "closest_button": [ + 0.17875553667545313, + -0.41293168067932123, + 0.7686872482299805 + ], + "closest_ee_minus_button": [ + 0.0005251136678829926, + 0.00046129257448856986, + 0.03499754136211286 + ], + "button_min_z_position": [ + 0.1787586063146591, + -0.41292440891265864, + 0.7684791684150696 + ], + "min_active_finger_to_button": 0.14520214607799292, + "closest_active_finger": [ + 0.052356719970703125, + -0.475541889667511, + 0.8109638690948486 + ], + "closest_active_finger_button": [ + 0.17874625325202936, + -0.4129479229450225, + 0.7764480113983154 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12638953328132624, + -0.06259396672248846, + 0.0345158576965332 + ], + "min_contact_pad_to_button": 0.021051198878668912, + "closest_contact_pad": [ + 0.1787586063146591, + -0.4136385305321226, + 0.7895182512026315 + ], + "closest_contact_pad_button": [ + 0.1787586063146591, + -0.41292440891265864, + 0.7684791684150696 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007141216194639366, + 0.021039082787561947 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2219a550c1db0c6f8d1cec3fa42866ddf44e442ce0a969ad5373a04bc6c65a8e", + "visual_seed": 6107675342853210642, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dcfcf3012d21b65de488bf34c7ef8754fd954913 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "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": [ + 0.3202686798867085, + 0.35907474860659305, + 1.1539900242762244 + ], + "current_z": 1.1539900242762244, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.29740357647230353, + "gripper_z": 1.1471934396339023, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31519655433454563, + 0.3539301418757621, + 1.1471934396339023 + ], + "object_minus_gripper": [ + 0.005072125552162854, + 0.005144606730830947, + 0.006796584642322134 + ], + "object_to_gripper_xy": 0.007224502476421087, + "object_to_gripper_z": 0.006796584642322134, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3202686798867085, + 0.33502578925026844, + 1.1539900242762244 + ], + "finger_b": [ + 0.30879479085790085, + 0.35907474860659305, + 1.1539900242762244 + ], + "finger_midpoint": [ + 0.31453173537230467, + 0.3470502689284307, + 1.1539900242762244 + ], + "object_minus_finger_midpoint": [ + 0.005736944514403819, + 0.012024479678162336, + 0.0 + ], + "finger_gap": 0.026645873518568418, + "fingertip_max_gap": 0.09061471854794298, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013322936759284233, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1539900242762244, + "object_top_z": 1.199716868447818, + "finger_top_clearance": 0.04572684417159367, + "fingertip_min_top_clearance": 0.013718053251478101, + "object_projection_between_fingers": 0.8145779551008576, + "object_to_finger_line_xy": 0.010355640648090839, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780735927397149, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6972477834912787, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3277647898630955, + -0.349689905779419, + 0.8470183959948264 + ], + "target_position": [ + 0.31978517916264854, + -0.3515059769889077, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008183660645983625, + "xy_threshold": 0.08, + "gripper_dist": 0.18495765824034685, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470183959948264, + "min_z": 0.5730800627579278, + "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": 0.07548268154156536, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528356525810009, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15342068961906116, + "release_required_pad_clearance": 0.052641782629050046, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3380231768585949, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008386671543121338, + "max_z_decrease": 0.008386671543121338, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035064652006172085, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008386671543121338, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021017927620354118, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008386671543121338, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008386745001854753, + "max_button_displacement": 0.12, + "button_start": [ + 0.17548510432243347, + -0.4077674448490142, + 0.7768088579177856 + ], + "button_final": [ + 0.17548510432243347, + -0.4077674448490142, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1774504753058424, + -0.4084331871078552, + 0.803552950292572 + ], + "closest_button": [ + 0.1755036264657974, + -0.407742291688919, + 0.7685492038726807 + ], + "closest_ee_minus_button": [ + 0.0019468488400450068, + -0.0006908954189361882, + 0.035003746419891346 + ], + "button_min_z_position": [ + 0.1755015254020691, + -0.40773642063140864, + 0.7684221863746643 + ], + "min_active_finger_to_button": 0.14381184307233613, + "closest_active_finger": [ + 0.036474280059337616, + -0.3945302367210388, + 0.8105627298355103 + ], + "closest_active_finger_button": [ + 0.17548778653144836, + -0.4077699482440948, + 0.7761853933334351 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13901350647211075, + 0.013239711523055975, + 0.034377336502075195 + ], + "min_contact_pad_to_button": 0.021017927620354118, + "closest_contact_pad": [ + 0.1755015254020691, + -0.4094176120738284, + 0.7893727681515119 + ], + "closest_contact_pad_button": [ + 0.1755015254020691, + -0.40773642063140864, + 0.7684221863746643 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016811914424197383, + 0.02095058177684761 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "30c69cfea23bb1b33aae8b1fd1caf45927886d71eba34d79e393ae03e1df13d6", + "visual_seed": 1289989804392843573, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d5827916dce165a14ba07de29f2e97ac976c1ef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "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": [ + 0.3237403235966127, + 0.35962208084064273, + 1.1576806862502298 + ], + "current_z": 1.1576806862502298, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30109417884166423, + "gripper_z": 1.1508584212975759, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31843582882216376, + 0.354582415445893, + 1.1508584212975759 + ], + "object_minus_gripper": [ + 0.005304494774448942, + 0.005039665394749759, + 0.0068222649526539225 + ], + "object_to_gripper_xy": 0.007316822541458443, + "object_to_gripper_z": 0.0068222649526539225, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3237403235966127, + 0.33523240329270343, + 1.1576806862502298 + ], + "finger_b": [ + 0.31265053962796896, + 0.35962208084064273, + 1.1576806862502298 + ], + "finger_midpoint": [ + 0.3181954316122908, + 0.3474272420666731, + 1.1576806862502298 + ], + "object_minus_finger_midpoint": [ + 0.005544891984321898, + 0.012194838773969652, + 0.0 + ], + "finger_gap": 0.02679253029043062, + "fingertip_max_gap": 0.09050140187767938, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013396265145215322, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1576806862502298, + "object_top_z": 1.2033516554411605, + "finger_top_clearance": 0.04567096919093072, + "fingertip_min_top_clearance": 0.013701290757279183, + "object_projection_between_fingers": 0.8286758004514168, + "object_to_finger_line_xy": 0.010095211319706268, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047750700938839694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7044600016547143, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 384, + "max_stable_success_frames": 384, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.331105365812868, + -0.35209634455850847, + 0.8470195246137103 + ], + "target_position": [ + 0.32215372122383684, + -0.35471533787501663, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009326900173168194, + "xy_threshold": 0.08, + "gripper_dist": 0.187853006300815, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195246137103, + "min_z": 0.5730800627579278, + "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": 0.07531430244926517, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551960940524843, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15676627730158496, + "release_required_pad_clearance": 0.052759804702624216, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5692371855229765, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00808405876159668, + "max_z_decrease": 0.00808405876159668, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035069291766461765, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00808405876159668, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02108088242229622, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00808405876159668, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008084065144602274, + "max_button_displacement": 0.12, + "button_start": [ + 0.17785364389419553, + -0.4109767973423004, + 0.7768088579177856 + ], + "button_final": [ + 0.17785364389419553, + -0.4109767973423004, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17709990681962998, + -0.40927240361115075, + 0.8037448631580691 + ], + "closest_button": [ + 0.17785857617855066, + -0.4109679162502289, + 0.768724799156189 + ], + "closest_ee_minus_button": [ + -0.0007586693589206883, + 0.0016955126390781339, + 0.03502006400188018 + ], + "button_min_z_position": [ + 0.17785857617855066, + -0.4109679162502289, + 0.768724799156189 + ], + "min_active_finger_to_button": 0.1458022250390917, + "closest_active_finger": [ + 0.04985727369785309, + -0.4716463088989258, + 0.8099878430366516 + ], + "closest_active_finger_button": [ + 0.17785866558551786, + -0.4109799563884735, + 0.7754403948783875 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12800139188766477, + -0.06066635251045227, + 0.03454744815826416 + ], + "min_contact_pad_to_button": 0.02108088242229622, + "closest_contact_pad": [ + 0.17785857617855066, + -0.4109679162502289, + 0.7898056815784852 + ], + "closest_contact_pad_button": [ + 0.17785857617855066, + -0.4109679162502289, + 0.768724799156189 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02108088242229622 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a1c329cfadab6f683de1f1590f64a8f1169fe25e4dc4d96b43e44af1a790343e", + "visual_seed": 4628080759136874286, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1dbc0591dbc90a97497f534a1b76159e80f3d1a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "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": [ + 0.32457918822683124, + 0.3577438293811483, + 1.1571370900710078 + ], + "current_z": 1.1571370900710078, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3005504634531527, + "gripper_z": 1.1503132927659374, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3192962496798255, + 0.35274416140334025, + 1.1503132927659374 + ], + "object_minus_gripper": [ + 0.005282938547005733, + 0.004999667977808042, + 0.006823797305070434 + ], + "object_to_gripper_xy": 0.0072736592977509056, + "object_to_gripper_z": 0.006823797305070434, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32457918822683124, + 0.333289536562041, + 1.1571370900710078 + ], + "finger_b": [ + 0.3136542612140156, + 0.3577438293811483, + 1.1571370900710078 + ], + "finger_midpoint": [ + 0.3191167247204234, + 0.34551668297159466, + 1.1571370900710078 + ], + "object_minus_finger_midpoint": [ + 0.005462463506407833, + 0.012227146409553635, + 0.0 + ], + "finger_gap": 0.02678369779395651, + "fingertip_max_gap": 0.09066055639625173, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013391848896978255, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1571370900710078, + "object_top_z": 1.2028436626610761, + "finger_top_clearance": 0.04570657259006827, + "fingertip_min_top_clearance": 0.01371197177702048, + "object_projection_between_fingers": 0.8336219552493145, + "object_to_finger_line_xy": 0.009974775188026946, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783027819812587, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6909667394900386, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32947203962231025, + -0.35681586804169335, + 0.8470196490174382 + ], + "target_position": [ + 0.32089237865086156, + -0.35912440297969367, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008884813782233592, + "xy_threshold": 0.08, + "gripper_dist": 0.1891068797675278, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196490174382, + "min_z": 0.5730800627579278, + "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": 0.07537160554734781, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08540384122923032, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1578069925011511, + "release_required_pad_clearance": 0.052701920614615164, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.45799451401716484, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008257508277893066, + "max_z_decrease": 0.008257508277893066, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350291926108475, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008257508277893066, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021078508528503074, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008257508277893066, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008257594044365905, + "max_button_displacement": 0.12, + "button_start": [ + 0.17659230530261988, + -0.4153858721256256, + 0.7768088579177856 + ], + "button_final": [ + 0.17659230530261988, + -0.4153858721256256, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17587533683399728, + -0.4171242080382484, + 0.8036004102710947 + ], + "closest_button": [ + 0.1766205728054046, + -0.4153651297092438, + 0.7686233520507812 + ], + "closest_ee_minus_button": [ + -0.0007452359714073264, + -0.0017590783290046264, + 0.034977058220313495 + ], + "button_min_z_position": [ + 0.17662222683429712, + -0.41536304354667664, + 0.7685513496398926 + ], + "min_active_finger_to_button": 0.14629336943435176, + "closest_active_finger": [ + 0.03493836522102356, + -0.40290337800979614, + 0.8109109997749329 + ], + "closest_active_finger_button": [ + 0.17659427225589747, + -0.41538935899734497, + 0.776567816734314 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1416559070348739, + 0.012485980987548828, + 0.034343183040618896 + ], + "min_contact_pad_to_button": 0.021078508528503074, + "closest_contact_pad": [ + 0.17662222683429712, + -0.41812988457436484, + 0.7894474763746173 + ], + "closest_contact_pad_button": [ + 0.17662222683429712, + -0.41536304354667664, + 0.7685513496398926 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002766841027688205, + 0.02089612673472474 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "84a098660f6f10adb8631ae300c28e4a2f86f7012c66f7e6d70054d9dc5525a9", + "visual_seed": 3393555084609652838, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..da1a69f0e5e5c83d52ac3de087a9330b3b335c66 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "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": [ + 0.32757639807122896, + 0.36086320584305465, + 1.1564403431414771 + ], + "current_z": 1.1564403431414771, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2998538357329116, + "gripper_z": 1.1496505151919323, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3225823580670063, + 0.35576617466733995, + 1.1496505151919323 + ], + "object_minus_gripper": [ + 0.004994040004222655, + 0.005097031175714695, + 0.006789827949544858 + ], + "object_to_gripper_xy": 0.00713583648705488, + "object_to_gripper_z": 0.006789827949544858, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32757639807122896, + 0.3368016180398125, + 1.1564403431414771 + ], + "finger_b": [ + 0.31625871928104804, + 0.36086320584305465, + 1.1564403431414771 + ], + "finger_midpoint": [ + 0.32191755867613847, + 0.34883241194143355, + 1.1564403431414771 + ], + "object_minus_finger_midpoint": [ + 0.005658839395090487, + 0.012030793901621095, + 0.0 + ], + "finger_gap": 0.02659040918848075, + "fingertip_max_gap": 0.09067907729829258, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013295204594240414, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1564403431414771, + "object_top_z": 1.2021915474611427, + "finger_top_clearance": 0.045751204319665506, + "fingertip_min_top_clearance": 0.013725361295899617, + "object_projection_between_fingers": 0.8188390093863845, + "object_to_finger_line_xy": 0.010241336265588626, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783953864914629, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7432438385907538, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32794258042359714, + -0.35655318055769913, + 0.8470186386689131 + ], + "target_position": [ + 0.32038812038845316, + -0.35821332273279616, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007734722908037723, + "xy_threshold": 0.08, + "gripper_dist": 0.18645998575902736, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470186386689131, + "min_z": 0.5730800627579278, + "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": 0.07572861224593078, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520602285962807, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15419435202230852, + "release_required_pad_clearance": 0.05260301142981404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.26539678839730746, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008298814296722412, + "max_z_decrease": 0.008298814296722412, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035005430711722164, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008298814296722412, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021079644250666378, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008298814296722412, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008298829724765425, + "max_button_displacement": 0.12, + "button_start": [ + 0.17608805000782007, + -0.4144747853279113, + 0.7768088579177856 + ], + "button_final": [ + 0.17608805000782007, + -0.4144747853279113, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17599282085642975, + -0.41530934224982285, + 0.8035050367581922 + ], + "closest_button": [ + 0.1760836243629455, + -0.41445940732955927, + 0.7685100436210632 + ], + "closest_ee_minus_button": [ + -9.080350651574642e-05, + -0.0008499349202635842, + 0.03499499313712895 + ], + "button_min_z_position": [ + 0.1760836243629455, + -0.41445940732955927, + 0.7685100436210632 + ], + "min_active_finger_to_button": 0.1458016572834177, + "closest_active_finger": [ + 0.03524173051118851, + -0.39931660890579224, + 0.8103377223014832 + ], + "closest_active_finger_button": [ + 0.17609222233295435, + -0.41447839140892023, + 0.7758502960205078 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14085049182176584, + 0.015161782503127996, + 0.03448742628097534 + ], + "min_contact_pad_to_button": 0.021079644250666378, + "closest_contact_pad": [ + 0.1760836243629455, + -0.4164730919840624, + 0.7894932863601365 + ], + "closest_contact_pad_button": [ + 0.1760836243629455, + -0.41445940732955927, + 0.7685100436210632 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002013684654503134, + 0.02098324273907326 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ab3ad9da5bdf0f1ee2bf045a065177ea605c898b04c3e6bcbe055ea144beb590", + "visual_seed": 3826969371149240218, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0ec704d8f67f133c8630f2fb7ffa8f55a0586b93 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "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": [ + 0.32439435222058, + 0.3616605682316975, + 1.154037646039932 + ], + "current_z": 1.154037646039932, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.2974510790267215, + "gripper_z": 1.1472179162750318, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3193923175544293, + 0.3565820289517242, + 1.1472179162750318 + ], + "object_minus_gripper": [ + 0.005002034666150679, + 0.005078539279973315, + 0.006819729764900195 + ], + "object_to_gripper_xy": 0.007128247471826789, + "object_to_gripper_z": 0.006819729764900195, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32439435222058, + 0.33762415516811967, + 1.154037646039932 + ], + "finger_b": [ + 0.3130634833511302, + 0.3616605682316975, + 1.154037646039932 + ], + "finger_midpoint": [ + 0.3187289177858551, + 0.3496423616999086, + 1.154037646039932 + ], + "object_minus_finger_midpoint": [ + 0.005665434434724892, + 0.012018206531788922, + 0.0 + ], + "finger_gap": 0.026573252384674367, + "fingertip_max_gap": 0.09066190833695872, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013286626192337184, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.154037646039932, + "object_top_z": 1.1997700713075412, + "finger_top_clearance": 0.045732425267609234, + "fingertip_min_top_clearance": 0.013719727580282769, + "object_projection_between_fingers": 0.8181819471671955, + "object_to_finger_line_xy": 0.010249157332069917, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047830954168479364, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7156208731669214, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3356435164451339, + -0.35412376157905917, + 0.8470188123763042 + ], + "target_position": [ + 0.32786043825957195, + -0.3561416660899664, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00804041321436343, + "xy_threshold": 0.08, + "gripper_dist": 0.18835932036992978, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470188123763042, + "min_z": 0.5730800627579278, + "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": 0.07573955213753089, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08540628960980355, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1562408470414662, + "release_required_pad_clearance": 0.05270314480490178, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4528081032045685, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008423209190368652, + "max_z_decrease": 0.008423209190368652, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035069330895922665, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008423209190368652, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021057050809080935, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008423209190368652, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00842326511462805, + "max_button_displacement": 0.12, + "button_start": [ + 0.18356037139892573, + -0.4124031364917755, + 0.7768088579177856 + ], + "button_final": [ + 0.18356037139892573, + -0.4124031364917755, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18492215187762964, + -0.4106590870603673, + 0.8033870295858097 + ], + "closest_button": [ + 0.1835786253213882, + -0.4123784601688385, + 0.768385648727417 + ], + "closest_ee_minus_button": [ + 0.0013435265562414533, + 0.0017193731084712005, + 0.03500138085839266 + ], + "button_min_z_position": [ + 0.1835786253213882, + -0.4123784601688385, + 0.768385648727417 + ], + "min_active_finger_to_button": 0.14393767769395893, + "closest_active_finger": [ + 0.058630265295505524, + -0.4749738574028015, + 0.8097563982009888 + ], + "closest_active_finger_button": [ + 0.1835662722587585, + -0.41240593791007996, + 0.7751976847648621 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12493600696325297, + -0.06256791949272156, + 0.03455871343612671 + ], + "min_contact_pad_to_button": 0.021057050809080935, + "closest_contact_pad": [ + 0.1835786253213882, + -0.4123784601688385, + 0.7894426995364979 + ], + "closest_contact_pad_button": [ + 0.1835786253213882, + -0.4123784601688385, + 0.768385648727417 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021057050809080935 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "89f0c3a09c4f64d8c473f7b82fac9b27a04f024fa96897b8bf7fe61cc3a107ed", + "visual_seed": 5055572933568873455, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b48862a5d640a89a247faf8e0957efd0a5ff829c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "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": [ + 0.32896987864313093, + 0.36337517411866366, + 1.1542119376259121 + ], + "current_z": 1.1542119376259121, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2976253706127018, + "gripper_z": 1.1473370888036116, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32383574015273425, + 0.3584252053026525, + 1.1473370888036116 + ], + "object_minus_gripper": [ + 0.005134138490396678, + 0.004949968816011174, + 0.006874848822300494 + ], + "object_to_gripper_xy": 0.007131729756381389, + "object_to_gripper_z": 0.006874848822300494, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32896987864313093, + 0.33911836032250076, + 1.1542119376259121 + ], + "finger_b": [ + 0.3179929327075829, + 0.36337517411866366, + 1.1542119376259121 + ], + "finger_midpoint": [ + 0.3234814056753569, + 0.35124676722058223, + 1.1542119376259121 + ], + "object_minus_finger_midpoint": [ + 0.00548847296777405, + 0.012128406898081423, + 0.0 + ], + "finger_gap": 0.026624919861168852, + "fingertip_max_gap": 0.09043302381190352, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013312459930584412, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1542119376259121, + "object_top_z": 1.1998303867849844, + "finger_top_clearance": 0.045618449159072316, + "fingertip_min_top_clearance": 0.013685534747721695, + "object_projection_between_fingers": 0.8300244591000967, + "object_to_finger_line_xy": 0.010000621034637225, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04771651190595176, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.660709108360718, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32894079469512266, + -0.3530806031472593, + 0.8470194920035239 + ], + "target_position": [ + 0.3207475405360847, + -0.3552776601562225, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008482716146095392, + "xy_threshold": 0.08, + "gripper_dist": 0.18550949188396976, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194920035239, + "min_z": 0.5730800627579278, + "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": 0.07582504414858067, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531514761492635, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15324977626265726, + "release_required_pad_clearance": 0.05265757380746318, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.37325260461954757, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008102476596832275, + "max_z_decrease": 0.008102476596832275, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501376780207722, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008102476596832275, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021073773812902992, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008102476596832275, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00810248795731956, + "max_button_displacement": 0.12, + "button_start": [ + 0.17644746601581576, + -0.41153910756111145, + 0.7768088579177856 + ], + "button_final": [ + 0.17644746601581576, + -0.41153910756111145, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17510824500347905, + -0.41205573871650203, + 0.803690264441712 + ], + "closest_button": [ + 0.176454707980156, + -0.41152763366699213, + 0.7687063813209534 + ], + "closest_ee_minus_button": [ + -0.0013464629766769542, + -0.0005281050495098971, + 0.03498388312075862 + ], + "button_min_z_position": [ + 0.176454707980156, + -0.41152763366699213, + 0.7687063813209534 + ], + "min_active_finger_to_button": 0.14704757886539524, + "closest_active_finger": [ + 0.03443852812051773, + -0.39532509446144104, + 0.809927761554718 + ], + "closest_active_finger_button": [ + 0.1764512658119202, + -0.4115438759326935, + 0.7753977179527283 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14201273769140246, + 0.01621878147125244, + 0.034530043601989746 + ], + "min_contact_pad_to_button": 0.021073773812902992, + "closest_contact_pad": [ + 0.176454707980156, + -0.4132868503357781, + 0.789706597972923 + ], + "closest_contact_pad_button": [ + 0.176454707980156, + -0.41152763366699213, + 0.7687063813209534 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001759216668785979, + 0.021000216651969605 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3b18b312cbcea7c988af3b54a893ca449650cc43749566721d550632ba5f565e", + "visual_seed": 6792578736689514017, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..00428f22cb7840895e0f3191dbe498dcb87bfa50 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "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": [ + 0.32870742336134057, + 0.359417291514198, + 1.1545342748677803 + ], + "current_z": 1.1545342748677803, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2979477674592147, + "gripper_z": 1.1476961023285923, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3234565526520006, + 0.35449734953061035, + 1.1476961023285923 + ], + "object_minus_gripper": [ + 0.005250870709339994, + 0.004919941983587639, + 0.006838172539187948 + ], + "object_to_gripper_xy": 0.007195656490416491, + "object_to_gripper_z": 0.006838172539187948, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32870742336134057, + 0.3350135525532094, + 1.1545342748677803 + ], + "finger_b": [ + 0.3178649449304112, + 0.359417291514198, + 1.1545342748677803 + ], + "finger_midpoint": [ + 0.32328618414587584, + 0.3472154220337037, + 1.1545342748677803 + ], + "object_minus_finger_midpoint": [ + 0.005421239215464724, + 0.012201869480494287, + 0.0 + ], + "finger_gap": 0.026703966255993524, + "fingertip_max_gap": 0.09059804661436091, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013351983127996774, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1545342748677803, + "object_top_z": 1.2001972944357604, + "finger_top_clearance": 0.045663019567980134, + "fingertip_min_top_clearance": 0.013698905870394074, + "object_projection_between_fingers": 0.8351436832021075, + "object_to_finger_line_xy": 0.009908528597663373, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779902330718046, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7185705482228524, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32761414258991284, + -0.35090964433098987, + 0.8470197925057151 + ], + "target_position": [ + 0.3191608862376712, + -0.35309277379244225, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008730612647585225, + "xy_threshold": 0.08, + "gripper_dist": 0.18827622375213582, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197925057151, + "min_z": 0.5730800627579278, + "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": 0.07581472943477129, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08610852860939953, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1558553544771704, + "release_required_pad_clearance": 0.05305426430469977, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1371016889715708, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008284449577331543, + "max_z_decrease": 0.008284449577331543, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505773549155873, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008284449577331543, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021080848651443884, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008284449577331543, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008284479584170263, + "max_button_displacement": 0.12, + "button_start": [ + 0.17486080527305603, + -0.40935423970222473, + 0.7768088579177856 + ], + "button_final": [ + 0.17486080527305603, + -0.40935423970222473, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1750352208704947, + -0.4072762615936915, + 0.8035209688404622 + ], + "closest_button": [ + 0.17487834393978116, + -0.4093404710292816, + 0.7685244083404541 + ], + "closest_ee_minus_button": [ + 0.00015687693071353426, + 0.002064209435590103, + 0.0349965605000081 + ], + "button_min_z_position": [ + 0.17487834393978116, + -0.4093404710292816, + 0.7685244083404541 + ], + "min_active_finger_to_button": 0.14485051428492532, + "closest_active_finger": [ + 0.047379158437252045, + -0.46878719329833984, + 0.8096278309822083 + ], + "closest_active_finger_button": [ + 0.17486707866191864, + -0.4093568027019501, + 0.7750369310379028 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274879202246666, + -0.05943039059638977, + 0.03459089994430542 + ], + "min_contact_pad_to_button": 0.021080848651443884, + "closest_contact_pad": [ + 0.17487834393978116, + -0.4093404710292816, + 0.789605256991898 + ], + "closest_contact_pad_button": [ + 0.17487834393978116, + -0.4093404710292816, + 0.7685244083404541 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021080848651443884 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2d6f0757ef12ffcff4c2a9a3eaea55bc7c478d5016b3ae71f26d1d6d590cda11", + "visual_seed": 2061625711452680172, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1e093ae31c8ca6658e3f902c42378ca10dea5afc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "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": [ + 0.3273690430830926, + 0.3585473588299456, + 1.157915260958708 + ], + "current_z": 1.157915260958708, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.3013286343408528, + "gripper_z": 1.1510908836439817, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3221514048525828, + 0.353568568057235, + 1.1510908836439817 + ], + "object_minus_gripper": [ + 0.005217638230509802, + 0.004978790772710573, + 0.006824377314726293 + ], + "object_to_gripper_xy": 0.007211941920377992, + "object_to_gripper_z": 0.006824377314726293, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3273690430830926, + 0.3341797890214594, + 1.157915260958708 + ], + "finger_b": [ + 0.3164159839574276, + 0.3585473588299456, + 1.157915260958708 + ], + "finger_midpoint": [ + 0.3218925135202601, + 0.3463635739257025, + 1.157915260958708 + ], + "object_minus_finger_midpoint": [ + 0.005476529562832511, + 0.0121837849042431, + 0.0 + ], + "finger_gap": 0.026716061883851106, + "fingertip_max_gap": 0.09063137510667787, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013358030941925553, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157915260958708, + "object_top_z": 1.203617242199779, + "finger_top_clearance": 0.045701981241071055, + "fingertip_min_top_clearance": 0.013710594372321316, + "object_projection_between_fingers": 0.8319161517794583, + "object_to_finger_line_xy": 0.00999022363481089, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781568755333894, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7831641017023622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 386, + "max_stable_success_frames": 386, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3363553759695196, + -0.3530833429533844, + 0.8470195651330984 + ], + "target_position": [ + 0.3277391712663505, + -0.3556709456770335, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008996369898039404, + "xy_threshold": 0.08, + "gripper_dist": 0.18771911871251698, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195651330984, + "min_z": 0.5730800627579278, + "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": 0.0757633372973611, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08622848247369151, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15567558655195177, + "release_required_pad_clearance": 0.05311424123684576, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.254275117904189, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00833439826965332, + "max_z_decrease": 0.00833439826965332, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350349920846676, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00833439826965332, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02108230116682526, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00833439826965332, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008334427235594664, + "max_button_displacement": 0.12, + "button_start": [ + 0.18343909084796903, + -0.41193240880966187, + 0.7768088579177856 + ], + "button_final": [ + 0.18343909084796903, + -0.41193240880966187, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1814218483269723, + -0.41217489427460763, + 0.8038114341055949 + ], + "closest_button": [ + 0.18341670930385584, + -0.4119249880313873, + 0.7688341736793518 + ], + "closest_ee_minus_button": [ + -0.0019948609768835335, + -0.0002499062432203547, + 0.03497726042624305 + ], + "button_min_z_position": [ + 0.1834447979927063, + -0.4119111895561218, + 0.7684744596481323 + ], + "min_active_finger_to_button": 0.14772991120140283, + "closest_active_finger": [ + 0.054606035351753235, + -0.47542572021484375, + 0.8110495209693909 + ], + "closest_active_finger_button": [ + 0.18344254791736603, + -0.41193449497222895, + 0.7764931321144104 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1288365125656128, + -0.0634912252426148, + 0.03455638885498047 + ], + "min_contact_pad_to_button": 0.02108230116682526, + "closest_contact_pad": [ + 0.1834447979927063, + -0.41331909497604574, + 0.7895096973415189 + ], + "closest_contact_pad_button": [ + 0.1834447979927063, + -0.4119111895561218, + 0.7684744596481323 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001407905419923916, + 0.021035237693386555 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b12436314fac2012a692c83cac2384369223f0bb8862708b2426b1f065015bae", + "visual_seed": 8996769243205679521, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6b49a303e3e249d588957615cfceb3642c43cb38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "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": [ + 0.32114112884402685, + 0.3561199860509303, + 1.1565246484692666 + ], + "current_z": 1.1565246484692666, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.29993814106070105, + "gripper_z": 1.1497373676228968, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3158806760751749, + 0.3509639248285456, + 1.1497373676228968 + ], + "object_minus_gripper": [ + 0.005260452768851953, + 0.005156061222384711, + 0.006787280846369814 + ], + "object_to_gripper_xy": 0.007365957552301093, + "object_to_gripper_z": 0.006787280846369814, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32114112884402685, + 0.33182090649960794, + 1.1565246484692666 + ], + "finger_b": [ + 0.3098050330020623, + 0.3561199860509303, + 1.1565246484692666 + ], + "finger_midpoint": [ + 0.3154730809230446, + 0.3439704462752691, + 1.1565246484692666 + ], + "object_minus_finger_midpoint": [ + 0.005668047920982244, + 0.012149539775661189, + 0.0 + ], + "finger_gap": 0.026813286556848996, + "fingertip_max_gap": 0.09074293206361264, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013406643278424486, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1565246484692666, + "object_top_z": 1.2022697349116287, + "finger_top_clearance": 0.04574508644236208, + "fingertip_min_top_clearance": 0.013723525932708624, + "object_projection_between_fingers": 0.8212578741216657, + "object_to_finger_line_xy": 0.01027314179040656, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04787146603180632, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7346776844111338, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32862562506663345, + -0.35403959807753366, + 0.8470195458988741 + ], + "target_position": [ + 0.3201708996889322, + -0.35621495988355956, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00873009623082483, + "xy_threshold": 0.08, + "gripper_dist": 0.18733942250609584, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195458988741, + "min_z": 0.5730800627579278, + "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": 0.0755763255267067, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549457734191744, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1555166887696852, + "release_required_pad_clearance": 0.05274728867095872, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.545362007072443, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008536279201507568, + "max_z_decrease": 0.008536279201507568, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035023424235013215, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008536279201507568, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021016218872800852, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008536279201507568, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008536395114266895, + "max_button_displacement": 0.12, + "button_start": [ + 0.17587082087993622, + -0.4124764204025268, + 0.7768088579177856 + ], + "button_final": [ + 0.17587082087993622, + -0.4124764204025268, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17706175908591668, + -0.41306546886569045, + 0.8032706860176115 + ], + "closest_button": [ + 0.17588868737220764, + -0.4124356806278228, + 0.7682725787162781 + ], + "closest_ee_minus_button": [ + 0.001173071713709034, + -0.0006297882378676345, + 0.03499810730133346 + ], + "button_min_z_position": [ + 0.17588868737220764, + -0.4124356806278228, + 0.7682725787162781 + ], + "min_active_finger_to_button": 0.14455832487072054, + "closest_active_finger": [ + 0.0361630916595459, + -0.3985369801521301, + 0.8104353547096252 + ], + "closest_active_finger_button": [ + 0.1758744716644287, + -0.4124795198440551, + 0.7760341167449951 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1397113800048828, + 0.013942539691924993, + 0.03440123796463013 + ], + "min_contact_pad_to_button": 0.021016218872800852, + "closest_contact_pad": [ + 0.17588868737220764, + -0.41410116711506273, + 0.7892227006841878 + ], + "closest_contact_pad_button": [ + 0.17588868737220764, + -0.4124356806278228, + 0.7682725787162781 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016654864872399089, + 0.020950121967909685 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b99914b4bce4a2f7e91f61803b36412674c948e2f69114c7866e8d65aae21270", + "visual_seed": 1012931387601621928, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a3fa68ecbfb420f10c4704463221a3466150f2da --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "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": [ + 0.32852249698102515, + 0.3656681971983242, + 1.1544010781371803 + ], + "current_z": 1.1544010781371803, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.29781451112396984, + "gripper_z": 1.147537891844292, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32344135187083034, + 0.36053942270699574, + 1.147537891844292 + ], + "object_minus_gripper": [ + 0.005081145110194807, + 0.0051287744913284805, + 0.00686318629288829 + ], + "object_to_gripper_xy": 0.007219581941758007, + "object_to_gripper_z": 0.00686318629288829, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32852249698102515, + 0.3416661670029163, + 1.1544010781371803 + ], + "finger_b": [ + 0.3170035605989959, + 0.3656681971983242, + 1.1544010781371803 + ], + "finger_midpoint": [ + 0.3227630287900105, + 0.35366718210062026, + 1.1544010781371803 + ], + "object_minus_finger_midpoint": [ + 0.005759468191014638, + 0.01200101509770396, + 0.0 + ], + "finger_gap": 0.026622985348651453, + "fingertip_max_gap": 0.0906129390466077, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013311492674325739, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1544010781371803, + "object_top_z": 1.200052817247094, + "finger_top_clearance": 0.0456517391099136, + "fingertip_min_top_clearance": 0.013695521732974081, + "object_projection_between_fingers": 0.8127976685909302, + "object_to_finger_line_xy": 0.010384930737095292, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780646952330385, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7227489491966018, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32955982990090615, + -0.3560055961455253, + 0.8470193434073852 + ], + "target_position": [ + 0.3219094220940274, + -0.35783827699075277, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00786685824786586, + "xy_threshold": 0.08, + "gripper_dist": 0.1864154743946804, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193434073852, + "min_z": 0.5730800627579278, + "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": 0.0757387763363638, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499597231114768, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15422352912047327, + "release_required_pad_clearance": 0.05249798615557384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06852789728976814, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008133232593536377, + "max_z_decrease": 0.008133232593536377, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035015262549513114, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008133232593536377, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02100776051201218, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008133232593536377, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00813327140753531, + "max_button_displacement": 0.12, + "button_start": [ + 0.17760935425758362, + -0.4140997231006622, + 0.7768088579177856 + ], + "button_final": [ + 0.17760935425758362, + -0.4140997231006622, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17642833680412212, + -0.4132175792567864, + 0.8036593261424853 + ], + "closest_button": [ + 0.17763222754001617, + -0.41408932209014887, + 0.7686756253242493 + ], + "closest_ee_minus_button": [ + -0.0012038907358940532, + 0.0008717428333624433, + 0.034983700818235985 + ], + "button_min_z_position": [ + 0.17763222754001617, + -0.41408932209014887, + 0.7686756253242493 + ], + "min_active_finger_to_button": 0.1465018853246185, + "closest_active_finger": [ + 0.04932158440351486, + -0.47587186098098755, + 0.8111228942871094 + ], + "closest_active_finger_button": [ + 0.17761361598968506, + -0.4141016006469726, + 0.7766498327255249 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1282920315861702, + -0.06177026033401495, + 0.03447306156158447 + ], + "min_contact_pad_to_button": 0.02100776051201218, + "closest_contact_pad": [ + 0.17763222754001617, + -0.4144265259717703, + 0.7896806793654146 + ], + "closest_contact_pad_button": [ + 0.17763222754001617, + -0.41408932209014887, + 0.7686756253242493 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00033720388162145065, + 0.021005054041165372 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0337fb0ab0a582cd9e98265d147c9bc381c7988b39958c405ca2553730573758", + "visual_seed": 78969794858882105, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f229a9221acc4dfc2dca912e4e60c0b287d11664 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "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": [ + 0.32009145279240053, + 0.3615781463915903, + 1.1544688204652374 + ], + "current_z": 1.1544688204652374, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.297882253452027, + "gripper_z": 1.1476605550366632, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3150534451302561, + 0.3564162943329584, + 1.1476605550366632 + ], + "object_minus_gripper": [ + 0.005038007662144406, + 0.0051618520586318994, + 0.006808265428574156 + ], + "object_to_gripper_xy": 0.007212921591077233, + "object_to_gripper_z": 0.006808265428574156, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32009145279240053, + 0.337585608278244, + 1.1544688204652374 + ], + "finger_b": [ + 0.3085522083629828, + 0.3615781463915903, + 1.1544688204652374 + ], + "finger_midpoint": [ + 0.3143218305776917, + 0.3495818773349172, + 1.1544688204652374 + ], + "object_minus_finger_midpoint": [ + 0.005769622214708836, + 0.011996269056673114, + 0.0 + ], + "finger_gap": 0.026623223830374527, + "fingertip_max_gap": 0.09073187822313641, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013311611915187227, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1544688204652374, + "object_top_z": 1.2001932186024047, + "finger_top_clearance": 0.04572439813716733, + "fingertip_min_top_clearance": 0.0137173194411502, + "object_projection_between_fingers": 0.8121403716309278, + "object_to_finger_line_xy": 0.010399032195949096, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786593911156821, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7326574535690192, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33179582017788295, + -0.35817603713568574, + 0.8470195029131669 + ], + "target_position": [ + 0.3238504616162447, + -0.36015684724126434, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008188548793733878, + "xy_threshold": 0.08, + "gripper_dist": 0.18518396303313311, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195029131669, + "min_z": 0.5730800627579278, + "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": 0.07552679049783664, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08605050036279137, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535753752971728, + "release_required_pad_clearance": 0.053025250181395686, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0820817829797986, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008338510990142822, + "max_z_decrease": 0.008338510990142822, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502967873566643, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008338510990142822, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021033612071190002, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008338510990142822, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008338554061861604, + "max_button_displacement": 0.12, + "button_start": [ + 0.17955039441585538, + -0.4164183139801025, + 0.7768088579177856 + ], + "button_final": [ + 0.17955039441585538, + -0.4164183139801025, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1776745374884527, + -0.4161589409883091, + 0.8036526679403029 + ], + "closest_button": [ + 0.1795587986707687, + -0.41640263795852656, + 0.7686745524406433 + ], + "closest_ee_minus_button": [ + -0.0018842611823160216, + 0.00024369697021747738, + 0.03497811549965957 + ], + "button_min_z_position": [ + 0.1795645803213119, + -0.41639557480812067, + 0.7684703469276428 + ], + "min_active_finger_to_button": 0.14740647013324515, + "closest_active_finger": [ + 0.050479426980018616, + -0.47869256138801575, + 0.8109844326972961 + ], + "closest_active_finger_button": [ + 0.17955349385738367, + -0.41642034053802485, + 0.776477575302124 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12907406687736506, + -0.0622722208499909, + 0.03450685739517212 + ], + "min_contact_pad_to_button": 0.021033612071190002, + "closest_contact_pad": [ + 0.1795645803213119, + -0.4173743117590103, + 0.789481175344016 + ], + "closest_contact_pad_button": [ + 0.1795645803213119, + -0.41639557480812067, + 0.7684703469276428 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009787369508896249, + 0.02101082841637314 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b055a97f6b03b6b94b89c5a785c86ffb5fa3fa94b1366e6970cc4c7c2025d73", + "visual_seed": 5106174706684176388, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c9051009c2e90fee4e61166a2c5acedc20864fd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "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": [ + 0.3207291562980215, + 0.36551612163135677, + 1.1556172830825366 + ], + "current_z": 1.1556172830825366, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2990307160693263, + "gripper_z": 1.1488058736242976, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3154946781425727, + 0.3605174964853492, + 1.1488058736242976 + ], + "object_minus_gripper": [ + 0.005234478155448807, + 0.004998625146007574, + 0.006811409458238993 + ], + "object_to_gripper_xy": 0.007237818380573665, + "object_to_gripper_z": 0.006811409458238993, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3207291562980215, + 0.3411284793288492, + 1.1556172830825366 + ], + "finger_b": [ + 0.3097549244269744, + 0.36551612163135677, + 1.1556172830825366 + ], + "finger_midpoint": [ + 0.3152420403624979, + 0.353322300480103, + 1.1556172830825366 + ], + "object_minus_finger_midpoint": [ + 0.00548711593552359, + 0.01219382115125378, + 0.0 + ], + "finger_gap": 0.026743052597535736, + "fingertip_max_gap": 0.09067342204007525, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013371526298767878, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1556172830825366, + "object_top_z": 1.2013402575961982, + "finger_top_clearance": 0.045722974513661585, + "fingertip_min_top_clearance": 0.013716892354098441, + "object_projection_between_fingers": 0.8316061187034468, + "object_to_finger_line_xy": 0.01000766985892021, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783671102003763, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8834381665485737, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 385, + "max_stable_success_frames": 385, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.329457246551998, + -0.35581280070071847, + 0.847019646576274 + ], + "target_position": [ + 0.3208970123028567, + -0.35824433402204625, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008898874349764604, + "xy_threshold": 0.08, + "gripper_dist": 0.1861388412823484, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019646576274, + "min_z": 0.5730800627579278, + "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": 0.07556686492810495, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554081648786797, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15446889100945715, + "release_required_pad_clearance": 0.05277040824393399, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5895010538762507, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00820988416671753, + "max_z_decrease": 0.00820988416671753, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498908566283481, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00820988416671753, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020940789816438626, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00820988416671753, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008209994491855237, + "max_button_displacement": 0.12, + "button_start": [ + 0.17659693956375117, + -0.41450577974319447, + 0.7768088579177856 + ], + "button_final": [ + 0.17659693956375117, + -0.41450577974319447, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17621196031533343, + -0.41496057972484446, + 0.8035822823982807 + ], + "closest_button": [ + 0.17663423717021937, + -0.41448527574539173, + 0.7685989737510681 + ], + "closest_ee_minus_button": [ + -0.000422276854885939, + -0.0004753039794527236, + 0.03498330864721255 + ], + "button_min_z_position": [ + 0.17663423717021937, + -0.41448527574539173, + 0.7685989737510681 + ], + "min_active_finger_to_button": 0.1460670816129537, + "closest_active_finger": [ + 0.03523431718349457, + -0.40133005380630493, + 0.8109046220779419 + ], + "closest_active_finger_button": [ + 0.17659907042980189, + -0.41450849175453175, + 0.7765836715698242 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14136475324630732, + 0.013178437948226818, + 0.034320950508117676 + ], + "min_contact_pad_to_button": 0.020940789816438626, + "closest_contact_pad": [ + 0.17663423717021937, + -0.41591290320931323, + 0.7894910430109695 + ], + "closest_contact_pad_button": [ + 0.17663423717021937, + -0.41448527574539173, + 0.7685989737510681 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014276274639214992, + 0.02089206925990139 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0401371a458161457cb7bb54bd1aabb2c5f70e01a8ab32b2933e4d86439091e3", + "visual_seed": 8039324952329236778, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6474f2f25efa46dd58bf0a4c48ea2fad9b0cebc5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "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": [ + 0.3205723054245243, + 0.3582328403508509, + 1.1561320829236592 + ], + "current_z": 1.1561320829236592, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29954551591044887, + "gripper_z": 1.149341653896521, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31540028526452624, + 0.3530431835265546, + 1.149341653896521 + ], + "object_minus_gripper": [ + 0.00517202015999807, + 0.005189656824296285, + 0.006790429027138112 + ], + "object_to_gripper_xy": 0.007326822673532604, + "object_to_gripper_z": 0.006790429027138112, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3205723054245243, + 0.3340877164441398, + 1.1561320829236592 + ], + "finger_b": [ + 0.3090711300046468, + 0.3582328403508509, + 1.1561320829236592 + ], + "finger_midpoint": [ + 0.31482171771458556, + 0.34616027839749536, + 1.1561320829236592 + ], + "object_minus_finger_midpoint": [ + 0.005750587709938748, + 0.012072561953355543, + 0.0 + ], + "finger_gap": 0.026744420810876152, + "fingertip_max_gap": 0.09071093011387635, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013372210405438076, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1561320829236592, + "object_top_z": 1.2018421153089525, + "finger_top_clearance": 0.04571003238529325, + "fingertip_min_top_clearance": 0.013713009715587976, + "object_projection_between_fingers": 0.8150654474326953, + "object_to_finger_line_xy": 0.010383373322963522, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047855465056938176, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7138048314320468, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 379, + "max_stable_success_frames": 379, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3307232313274179, + -0.3506899194418177, + 0.8470195461438621 + ], + "target_position": [ + 0.32290115176809503, + -0.3525502797535502, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00804026548826876, + "xy_threshold": 0.08, + "gripper_dist": 0.18706374383518914, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195461438621, + "min_z": 0.5730800627579278, + "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": 0.07587200020174047, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515540147606614, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15444161776647378, + "release_required_pad_clearance": 0.05257770073803307, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2202866678722755, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008450090885162354, + "max_z_decrease": 0.008450090885162354, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035038660270263255, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008450090885162354, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021094834083243284, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008450090885162354, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008450196375907036, + "max_button_displacement": 0.12, + "button_start": [ + 0.1786010712385177, + -0.4088117480278015, + 0.7768088579177856 + ], + "button_final": [ + 0.1786010712385177, + -0.4088117480278015, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1772604769925042, + -0.41044774453803956, + 0.803656764934569 + ], + "closest_button": [ + 0.17862519621849055, + -0.4087960720062256, + 0.768683671951294 + ], + "closest_ee_minus_button": [ + -0.001364719225986355, + -0.0016516725318139747, + 0.034973092983275 + ], + "button_min_z_position": [ + 0.17862990498542783, + -0.40878090262413025, + 0.7683587670326233 + ], + "min_active_finger_to_button": 0.14696264950006907, + "closest_active_finger": [ + 0.0362820103764534, + -0.39612051844596863, + 0.8110144138336182 + ], + "closest_active_finger_button": [ + 0.17860266566276545, + -0.4088155925273895, + 0.7766387462615967 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14232065528631205, + 0.012695074081420898, + 0.034375667572021484 + ], + "min_contact_pad_to_button": 0.021094834083243284, + "closest_contact_pad": [ + 0.17862990498542783, + -0.41145268833908716, + 0.7892837183131619 + ], + "closest_contact_pad_button": [ + 0.17862990498542783, + -0.40878090262413025, + 0.7683587670326233 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002671785714956909, + 0.020924951280538617 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "068b9c40beeb81a95631c324f4ec5887dcba39db89ffebcd2039e9e39120bcb4", + "visual_seed": 4220098111256871979, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1bcb30e7035dfe76b93f55af4002bf4e8de5eae0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "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": [ + 0.328623887236938, + 0.3621597733690508, + 1.1563282410734137 + ], + "current_z": 1.1563282410734137, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.29974173366484813, + "gripper_z": 1.1494920934676491, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32341873739521065, + 0.3572612597858492, + 1.1494920934676491 + ], + "object_minus_gripper": [ + 0.005205149841727319, + 0.004898513583201591, + 0.006836147605764564 + ], + "object_to_gripper_xy": 0.007147658371777741, + "object_to_gripper_z": 0.006836147605764564, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.328623887236938, + 0.3377790576478655, + 1.1563282410734137 + ], + "finger_b": [ + 0.31782249619836994, + 0.3621597733690508, + 1.1563282410734137 + ], + "finger_midpoint": [ + 0.32322319171765396, + 0.34996941550845817, + 1.1563282410734137 + ], + "object_minus_finger_midpoint": [ + 0.005400695519284016, + 0.012190357860592638, + 0.0 + ], + "finger_gap": 0.02666625859481062, + "fingertip_max_gap": 0.09057864989667255, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013333129297405285, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1563282410734137, + "object_top_z": 1.2019959763233177, + "finger_top_clearance": 0.045667735249903973, + "fingertip_min_top_clearance": 0.013700320574971192, + "object_projection_between_fingers": 0.8359277230249457, + "object_to_finger_line_xy": 0.00987561278491218, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778932494833628, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7655682676603194, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 383, + "max_stable_success_frames": 383, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33632563595984616, + -0.3518978037720385, + 0.8470193104459385 + ], + "target_position": [ + 0.3277989684892213, + -0.35440759044749776, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008888368090427229, + "xy_threshold": 0.08, + "gripper_dist": 0.18738535556310704, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193104459385, + "min_z": 0.5730800627579278, + "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": 0.07568154563447996, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504964940919717, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15546008368238537, + "release_required_pad_clearance": 0.052524824704598586, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11869150501024514, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008377015590667725, + "max_z_decrease": 0.008377015590667725, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501134809461821, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008377015590667725, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021263207918811047, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008377015590667725, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00837707968998441, + "max_button_displacement": 0.12, + "button_start": [ + 0.18349888920783988, + -0.4106690585613251, + 0.7768088579177856 + ], + "button_final": [ + 0.18349888920783988, + -0.4106690585613251, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18441414570845147, + -0.411171818047143, + 0.8034266769639216 + ], + "closest_button": [ + 0.1834770888090133, + -0.4106445908546448, + 0.7684318423271179 + ], + "closest_ee_minus_button": [ + 0.0009370568994381545, + -0.000527227192498203, + 0.03499483463680364 + ], + "button_min_z_position": [ + 0.1834770888090133, + -0.4106445908546448, + 0.7684318423271179 + ], + "min_active_finger_to_button": 0.1449792686935864, + "closest_active_finger": [ + 0.04378577321767807, + -0.3940899670124054, + 0.8079761266708374 + ], + "closest_active_finger_button": [ + 0.18351039290428156, + -0.4106714129447937, + 0.7730322480201721 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1397246196866035, + 0.016581445932388306, + 0.03494387865066528 + ], + "min_contact_pad_to_button": 0.021263207918811047, + "closest_contact_pad": [ + 0.1834770888090133, + -0.4124451496910375, + 0.7896186778358785 + ], + "closest_contact_pad_button": [ + 0.1834770888090133, + -0.4106445908546448, + 0.7684318423271179 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018005588363927405, + 0.02118683550876055 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5e062b86c4c787edc0f682964c4dd394d8e7e81af034ccd44a48ad7db502303f", + "visual_seed": 7142914788395107267, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..459c7db328359bf0a94a91411d971fa52f0d57f7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "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": [ + 0.32844165977009854, + 0.3685161967377274, + 1.1542531685889401 + ], + "current_z": 1.1542531685889401, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.297666541971085, + "gripper_z": 1.1474121415214251, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32332244018773537, + 0.3635542912873202, + 1.1474121415214251 + ], + "object_minus_gripper": [ + 0.005119219582363166, + 0.0049619054504072, + 0.006841027067514993 + ], + "object_to_gripper_xy": 0.00712929974339915, + "object_to_gripper_z": 0.006841027067514993, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32844165977009854, + 0.3442696501730625, + 1.1542531685889401 + ], + "finger_b": [ + 0.31744703193210816, + 0.3685161967377274, + 1.1542531685889401 + ], + "finger_midpoint": [ + 0.3229443458511033, + 0.35639292345539497, + 1.1542531685889401 + ], + "object_minus_finger_midpoint": [ + 0.005497313918995217, + 0.012123273282332425, + 0.0 + ], + "finger_gap": 0.026622863512559585, + "fingertip_max_gap": 0.09059231482912758, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013311431756279779, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1542531685889401, + "object_top_z": 1.1999100416601567, + "finger_top_clearance": 0.045656873071216575, + "fingertip_min_top_clearance": 0.013697061921364972, + "object_projection_between_fingers": 0.8294500740026919, + "object_to_finger_line_xy": 0.010013263813985743, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779615741456379, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.729337580360631, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 383, + "max_stable_success_frames": 383, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33105413914437876, + -0.35431686023532094, + 0.8470197079598033 + ], + "target_position": [ + 0.32220496565918544, + -0.3568207276893634, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009196587606197288, + "xy_threshold": 0.08, + "gripper_dist": 0.18676000173938237, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197079598033, + "min_z": 0.5730800627579278, + "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": 0.0758429262329981, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08846841752994132, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15452107096019907, + "release_required_pad_clearance": 0.05423420876497066, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.484971967664146, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00849449634552002, + "max_z_decrease": 0.00849449634552002, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035046262971844815, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00849449634552002, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020962156503923857, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00849449634552002, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00849452681451001, + "max_button_displacement": 0.12, + "button_start": [ + 0.1779048889875412, + -0.41308218240737915, + 0.7768088579177856 + ], + "button_final": [ + 0.1779048889875412, + -0.41308218240737915, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17755600869249386, + -0.41113277479589183, + 0.8033058512623541 + ], + "closest_button": [ + 0.17789454758167267, + -0.4130619168281555, + 0.7683143615722656 + ], + "closest_ee_minus_button": [ + -0.00033853888917881325, + 0.0019291420322636865, + 0.03499148969008847 + ], + "button_min_z_position": [ + 0.17789454758167267, + -0.4130619168281555, + 0.7683143615722656 + ], + "min_active_finger_to_button": 0.14529380528706484, + "closest_active_finger": [ + 0.05107177048921585, + -0.47505390644073486, + 0.8110694885253906 + ], + "closest_active_finger_button": [ + 0.1779104024171829, + -0.4130837321281433, + 0.7766900062561035 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12683863192796704, + -0.06197017431259155, + 0.03437948226928711 + ], + "min_contact_pad_to_button": 0.020962156503923857, + "closest_contact_pad": [ + 0.17789454758167267, + -0.4130619168281555, + 0.7892765180761895 + ], + "closest_contact_pad_button": [ + 0.17789454758167267, + -0.4130619168281555, + 0.7683143615722656 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020962156503923857 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69949a66a746edf3fe682f901feb338275ddc045dd4c6a52bc00c05df2cf6e95", + "visual_seed": 3612439300460740823, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c7fb440c2965585508f545a7246f6ce47f66609c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "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": [ + 0.32477584337071197, + 0.3631578595780047, + 1.1565253303539123 + ], + "current_z": 1.1565253303539123, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.29993888254999146, + "gripper_z": 1.1497218974311747, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31971146948890444, + 0.3580629647913152, + 1.1497218974311747 + ], + "object_minus_gripper": [ + 0.005064373881807527, + 0.005094894786689508, + 0.006803432922737551 + ], + "object_to_gripper_xy": 0.007183720185403254, + "object_to_gripper_z": 0.006803432922737551, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32477584337071197, + 0.3390206801883701, + 1.1565253303539123 + ], + "finger_b": [ + 0.3134951359968963, + 0.3631578595780047, + 1.1565253303539123 + ], + "finger_midpoint": [ + 0.3191354896838041, + 0.35108926988318745, + 1.1565253303539123 + ], + "object_minus_finger_midpoint": [ + 0.005640353686907851, + 0.012068589694817278, + 0.0 + ], + "finger_gap": 0.026643156489820432, + "fingertip_max_gap": 0.0906829642828483, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013321578244910202, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1565253303539123, + "object_top_z": 1.202277313412296, + "finger_top_clearance": 0.04575198305838368, + "fingertip_min_top_clearance": 0.013725594917515105, + "object_projection_between_fingers": 0.8207326015840258, + "object_to_finger_line_xy": 0.0102196771477807, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047841482141424155, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7269052377186336, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3349408359076673, + -0.3526431835973848, + 0.8470196441309665 + ], + "target_position": [ + 0.3271686133827383, + -0.35464268578165925, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008025300739656597, + "xy_threshold": 0.08, + "gripper_dist": 0.1857382863770401, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196441309665, + "min_z": 0.5730800627579278, + "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": 0.0758818857693607, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512729934925649, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15338951375374874, + "release_required_pad_clearance": 0.052563649674628246, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1938265818140249, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008351266384124756, + "max_z_decrease": 0.008351266384124756, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035013448983745706, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008351266384124756, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021231108209529195, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008351266384124756, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008351369977998322, + "max_button_displacement": 0.12, + "button_start": [ + 0.1828685402870178, + -0.4109041392803192, + 0.7768088579177856 + ], + "button_final": [ + 0.1828685402870178, + -0.4109041392803192, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18383866088244394, + -0.4106913062697817, + 0.8038189124959194 + ], + "closest_button": [ + 0.18284085392951965, + -0.4108861088752746, + 0.7688202261924744 + ], + "closest_ee_minus_button": [ + 0.000997806952924285, + 0.0001948026054929275, + 0.03499868630344505 + ], + "button_min_z_position": [ + 0.1828313022851944, + -0.410885602235794, + 0.7684575915336609 + ], + "min_active_finger_to_button": 0.14501523244776024, + "closest_active_finger": [ + 0.04325719177722931, + -0.39327532052993774, + 0.8080223202705383 + ], + "closest_active_finger_button": [ + 0.18288223445415497, + -0.4109078645706176, + 0.7730457782745361 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13962504267692566, + 0.017632544040679876, + 0.0349765419960022 + ], + "min_contact_pad_to_button": 0.021231108209529195, + "closest_contact_pad": [ + 0.1828313022851944, + -0.4119833626158795, + 0.7896603007462274 + ], + "closest_contact_pad_button": [ + 0.1828313022851944, + -0.410885602235794, + 0.7684575915336609 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010977603800854663, + 0.021202709212566506 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d54ceda6374afc801bb16ce494beb94098b65ecb995b66e4c93ddca095cbf874", + "visual_seed": 6113544084648220277, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad2420048be828ee4d977d7ee5bac2d57a437324 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "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": [ + 0.3239849217310126, + 0.36673546798495105, + 1.1559780621897506 + ], + "current_z": 1.1559780621897506, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.29939155478118507, + "gripper_z": 1.1491285565594007, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31877434225116696, + 0.36179766230578825, + 1.1491285565594007 + ], + "object_minus_gripper": [ + 0.005210579479845656, + 0.004937805679162799, + 0.006849505630349917 + ], + "object_to_gripper_xy": 0.007178583665386997, + "object_to_gripper_z": 0.006849505630349917, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3239849217310126, + 0.342319268438605, + 1.1559780621897506 + ], + "finger_b": [ + 0.31316995274330595, + 0.36673546798495105, + 1.1559780621897506 + ], + "finger_midpoint": [ + 0.31857743723715926, + 0.354527368211778, + 1.1559780621897506 + ], + "object_minus_finger_midpoint": [ + 0.005407484493853365, + 0.012208099773173053, + 0.0 + ], + "finger_gap": 0.026704201064477594, + "fingertip_max_gap": 0.09066798018761937, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013352100532238833, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1559780621897506, + "object_top_z": 1.201647241030447, + "finger_top_clearance": 0.045669178840696434, + "fingertip_min_top_clearance": 0.013700753652208963, + "object_projection_between_fingers": 0.8359820504687911, + "object_to_finger_line_xy": 0.009888348288488905, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783399009380969, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6699005646160506, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33096669170970355, + -0.3573517214683949, + 0.8470195015393236 + ], + "target_position": [ + 0.32318572970343423, + -0.35935018404596436, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008033506234325851, + "xy_threshold": 0.08, + "gripper_dist": 0.18749193411734436, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195015393236, + "min_z": 0.5730800627579278, + "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": 0.07589891136909778, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08679601052963758, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15504147815833036, + "release_required_pad_clearance": 0.05339800526481879, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8048750747682147, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008451521396636963, + "max_z_decrease": 0.008451521396636963, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035007171704858765, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008451521396636963, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02096492305656682, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008451521396636963, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00845162107383082, + "max_button_displacement": 0.12, + "button_start": [ + 0.17888565361499786, + -0.4156116545200348, + 0.7768088579177856 + ], + "button_final": [ + 0.17888565361499786, + -0.4156116545200348, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17955455166964385, + -0.4151062521474356, + 0.8035469950356365 + ], + "closest_button": [ + 0.17891043424606323, + -0.4155894219875335, + 0.7685490846633911 + ], + "closest_ee_minus_button": [ + 0.0006441174235806146, + 0.00048316984009794117, + 0.03499791037224542 + ], + "button_min_z_position": [ + 0.1789129376411438, + -0.4155809879302978, + 0.7683573365211487 + ], + "min_active_finger_to_button": 0.14502510428746887, + "closest_active_finger": [ + 0.053425371646881104, + -0.4797361195087433, + 0.8106719851493835 + ], + "closest_active_finger_button": [ + 0.17888899147510529, + -0.41561403870582575, + 0.7763278484344482 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12546361982822418, + -0.06412208080291754, + 0.0343441367149353 + ], + "min_contact_pad_to_button": 0.02096492305656682, + "closest_contact_pad": [ + 0.1789129376411438, + -0.41611275531061515, + 0.7893155144529489 + ], + "closest_contact_pad_button": [ + 0.1789129376411438, + -0.4155809879302978, + 0.7683573365211487 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005317673803173495, + 0.020958177931800215 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d77d800b2d7ca719d491f878262ffcc4ae08e31f411ee2dd339214b09b96ff9e", + "visual_seed": 7610600866898089035, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd55d5d682589a09c42dcc16a0fe3086f47c0276 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "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": [ + 0.324817522496076, + 0.36267231019517204, + 1.1563989276425213 + ], + "current_z": 1.1563989276425213, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2998124202339557, + "gripper_z": 1.1495747184080438, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3195757869838265, + 0.3575667504240704, + 1.1495747184080438 + ], + "object_minus_gripper": [ + 0.00524173551224949, + 0.005105559771101664, + 0.006824209234477463 + ], + "object_to_gripper_xy": 0.00731727625258669, + "object_to_gripper_z": 0.006824209234477463, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.324817522496076, + 0.33841518697352974, + 1.1563989276425213 + ], + "finger_b": [ + 0.3135274214572603, + 0.36267231019517204, + 1.1563989276425213 + ], + "finger_midpoint": [ + 0.31917247197666815, + 0.3505437485843509, + 1.1563989276425213 + ], + "object_minus_finger_midpoint": [ + 0.005645050519407835, + 0.012128561610821154, + 0.0 + ], + "finger_gap": 0.026755829429427246, + "fingertip_max_gap": 0.09068276421104901, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013377914714713623, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1563989276425213, + "object_top_z": 1.202091057239873, + "finger_top_clearance": 0.045692129597351805, + "fingertip_min_top_clearance": 0.013707638879205541, + "object_projection_between_fingers": 0.821943095100328, + "object_to_finger_line_xy": 0.010235727238645574, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04784138210552451, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.670680600599768, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3347909217677645, + -0.35467220539677113, + 0.8470192531724776 + ], + "target_position": [ + 0.3264609718369678, + -0.35667394172695777, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008567089014663522, + "xy_threshold": 0.08, + "gripper_dist": 0.18976241683374862, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192531724776, + "min_z": 0.5730800627579278, + "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": 0.07524621514784487, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08638047015090371, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1587295904265715, + "release_required_pad_clearance": 0.053190235075451855, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4021843304752757, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008288800716400146, + "max_z_decrease": 0.008288800716400146, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503072080899115, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008288800716400146, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02101956175305394, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008288800716400146, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008288837094752638, + "max_button_displacement": 0.12, + "button_start": [ + 0.18216089904308316, + -0.41293540596961975, + 0.7768088579177856 + ], + "button_final": [ + 0.18216089904308316, + -0.41293540596961975, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1802307539447522, + -0.41288140804544987, + 0.8036351823211815 + ], + "closest_button": [ + 0.1821704059839248, + -0.4129176139831543, + 0.7686582207679749 + ], + "closest_ee_minus_button": [ + -0.0019396520391726235, + 3.6205937704425484e-05, + 0.03497696155320662 + ], + "button_min_z_position": [ + 0.1821733117103576, + -0.4129142165184021, + 0.7685200572013855 + ], + "min_active_finger_to_button": 0.1475181806346348, + "closest_active_finger": [ + 0.053624749183654785, + -0.47658777236938477, + 0.8110052347183228 + ], + "closest_active_finger_button": [ + 0.18216422200202936, + -0.41293764114379883, + 0.7765396237373352 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12853947281837458, + -0.06365013122558594, + 0.03446561098098755 + ], + "min_contact_pad_to_button": 0.02101956175305394, + "closest_contact_pad": [ + 0.1821733117103576, + -0.4139856279313892, + 0.789512295144839 + ], + "closest_contact_pad_button": [ + 0.1821733117103576, + -0.4129142165184021, + 0.7685200572013855 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001071411412987111, + 0.020992237943453507 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "72847f0fbefaf9726bfe71e1e0f320aee990e3226d662a7150a2e5538e6b9f67", + "visual_seed": 4897530928237015985, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25156a18268850be9a43cb27cd882ca8a24a0505 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "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": [ + 0.3287689874254713, + 0.3621927467182051, + 1.1566710493805403 + ], + "current_z": 1.1566710493805403, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30008454197197476, + "gripper_z": 1.1498400769997643, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3235477939148017, + 0.35721207728337057, + 1.1498400769997643 + ], + "object_minus_gripper": [ + 0.005221193510669575, + 0.00498066943483455, + 0.0068309723807760125 + ], + "object_to_gripper_xy": 0.0072158110905811, + "object_to_gripper_z": 0.0068309723807760125, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3287689874254713, + 0.33781953699919526, + 1.1566710493805403 + ], + "finger_b": [ + 0.317817986717699, + 0.3621927467182051, + 1.1566710493805403 + ], + "finger_midpoint": [ + 0.3232934870715851, + 0.35000614185870016, + 1.1566710493805403 + ], + "object_minus_finger_midpoint": [ + 0.005475500353886165, + 0.012186604859504957, + 0.0 + ], + "finger_gap": 0.02672036243220637, + "fingertip_max_gap": 0.09061558761943486, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013360181216103221, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1566710493805403, + "object_top_z": 1.2023647613304775, + "finger_top_clearance": 0.04569371194993721, + "fingertip_min_top_clearance": 0.013708113584981163, + "object_projection_between_fingers": 0.8320334024515121, + "object_to_finger_line_xy": 0.00998905001983983, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780779380971743, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7693132597520181, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 385, + "max_stable_success_frames": 385, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3321368552222566, + -0.35230615702290463, + 0.8470195369031206 + ], + "target_position": [ + 0.3235618892767474, + -0.35478771101767814, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008926822009854299, + "xy_threshold": 0.08, + "gripper_dist": 0.1889994593877072, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195369031206, + "min_z": 0.5730800627579278, + "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": 0.07572414562342301, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595590299922244, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15696065027960465, + "release_required_pad_clearance": 0.05297795149961122, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9899110029568917, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008240997791290283, + "max_z_decrease": 0.008240997791290283, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501768502449845, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008240997791290283, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02108612641455371, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008240997791290283, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008241015659884852, + "max_button_displacement": 0.12, + "button_start": [ + 0.17926181852817535, + -0.41104915738105774, + 0.7768088579177856 + ], + "button_final": [ + 0.17926181852817535, + -0.41104915738105774, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18000378549950719, + -0.4118390390941723, + 0.8035683230172381 + ], + "closest_button": [ + 0.1792588233947754, + -0.4110322594642639, + 0.7685678601264954 + ], + "closest_ee_minus_button": [ + 0.0007449621047317945, + -0.0008067796299083829, + 0.03500046289074277 + ], + "button_min_z_position": [ + 0.1792588233947754, + -0.4110322594642639, + 0.7685678601264954 + ], + "min_active_finger_to_button": 0.14501578787917715, + "closest_active_finger": [ + 0.039126887917518616, + -0.39692172408103943, + 0.8092754483222961 + ], + "closest_active_finger_button": [ + 0.1792674362659454, + -0.4110539853572845, + 0.774772047996521 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1401405483484268, + 0.014132261276245062, + 0.034503400325775146 + ], + "min_contact_pad_to_button": 0.02108612641455371, + "closest_contact_pad": [ + 0.1792588233947754, + -0.4129099859146008, + 0.7895702140552397 + ], + "closest_contact_pad_button": [ + 0.1792588233947754, + -0.4110322594642639, + 0.7685678601264954 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018777264503369029, + 0.02100235392874439 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2cf5021b405e0fd881ad7939f8e4aadc320d1f5559d1209230e504782df3a55f", + "visual_seed": 151159420482080564, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d14038e9f2ea97edf6c35e3b154a448eb1a9acd6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "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": [ + 0.3265829704465117, + 0.35874385921085566, + 1.1545913548466074 + ], + "current_z": 1.1545913548466074, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.298004787833397, + "gripper_z": 1.1477768108183668, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32138525737778856, + 0.3537215474801738, + 1.1477768108183668 + ], + "object_minus_gripper": [ + 0.005197713068723131, + 0.00502231173068185, + 0.0068145440282405545 + ], + "object_to_gripper_xy": 0.0072277130729518965, + "object_to_gripper_z": 0.0068145440282405545, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3265829704465117, + 0.33440976162153585, + 1.1545913548466074 + ], + "finger_b": [ + 0.3155406303693521, + 0.35874385921085566, + 1.1545913548466074 + ], + "finger_midpoint": [ + 0.32106180040793186, + 0.34657681041619576, + 1.1545913548466074 + ], + "object_minus_finger_midpoint": [ + 0.005521170038579826, + 0.012167048794659907, + 0.0 + ], + "finger_gap": 0.026722304913053167, + "fingertip_max_gap": 0.09060713969308884, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013361152456526595, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1545913548466074, + "object_top_z": 1.2003152005776565, + "finger_top_clearance": 0.04572384573104915, + "fingertip_min_top_clearance": 0.013717153719314779, + "object_projection_between_fingers": 0.8292446159968241, + "object_to_finger_line_xy": 0.010055471708984347, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780356984654442, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7005435147248187, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3301726297482523, + -0.35234673535603994, + 0.8470193090913128 + ], + "target_position": [ + 0.32191366723362735, + -0.35458903757058263, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008557942570461833, + "xy_threshold": 0.08, + "gripper_dist": 0.18984684087826623, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193090913128, + "min_z": 0.5730800627579278, + "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": 0.07576850005484449, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08563068424470387, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1576074552106882, + "release_required_pad_clearance": 0.052815342122351935, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.676082518298884, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008325755596160889, + "max_z_decrease": 0.008325755596160889, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035026100792138457, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008325755596160889, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020870496599769583, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008325755596160889, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008325912894666445, + "max_button_displacement": 0.12, + "button_start": [ + 0.17761358618736264, + -0.4108504951000213, + 0.7768088579177856 + ], + "button_final": [ + 0.17761358618736264, + -0.4108504951000213, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17613944584741903, + -0.40870499333723537, + 0.8034105307236509 + ], + "closest_button": [ + 0.17766439914703364, + -0.41084438562393183, + 0.7684831023216248 + ], + "closest_ee_minus_button": [ + -0.0015249532996146065, + 0.002139392286696462, + 0.03492742840202612 + ], + "button_min_z_position": [ + 0.17766439914703364, + -0.41084438562393183, + 0.7684831023216248 + ], + "min_active_finger_to_button": 0.14613077184416753, + "closest_active_finger": [ + 0.049851834774017334, + -0.4729195833206177, + 0.811103105545044 + ], + "closest_active_finger_button": [ + 0.17761936783790583, + -0.41085448861122126, + 0.7767871618270874 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277675330638885, + -0.06206509470939642, + 0.03431594371795654 + ], + "min_contact_pad_to_button": 0.020870496599769583, + "closest_contact_pad": [ + 0.17766439914703364, + -0.41084438562393183, + 0.7893535989213943 + ], + "closest_contact_pad_button": [ + 0.17766439914703364, + -0.41084438562393183, + 0.7684831023216248 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020870496599769583 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b8ecb6e4abf25986375ed67d7722da7a24ac79e81a1d512a9de7312e27049bf", + "visual_seed": 2643617644942870101, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af2e459f2546076d9a6ad37b2a61345472c3f292 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "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": [ + 0.32038169286640045, + 0.3595489125827248, + 1.1556716969333543 + ], + "current_z": 1.1556716969333543, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.29908501071085436, + "gripper_z": 1.1488674161596908, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3150880683101489, + 0.35448063399148844, + 1.1488674161596908 + ], + "object_minus_gripper": [ + 0.005293624556251542, + 0.005068278591236375, + 0.0068042807736634625 + ], + "object_to_gripper_xy": 0.007328704443551691, + "object_to_gripper_z": 0.0068042807736634625, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32038169286640045, + 0.3351992136069393, + 1.1556716969333543 + ], + "finger_b": [ + 0.30920638443121684, + 0.3595489125827248, + 1.1556716969333543 + ], + "finger_midpoint": [ + 0.3147940386488086, + 0.34737406309483204, + 1.1556716969333543 + ], + "object_minus_finger_midpoint": [ + 0.005587654217591831, + 0.01217484948789277, + 0.0 + ], + "finger_gap": 0.026791703171557744, + "fingertip_max_gap": 0.0905540115016071, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013395851585778882, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1556716969333543, + "object_top_z": 1.2013664960853019, + "finger_top_clearance": 0.04569479915194763, + "fingertip_min_top_clearance": 0.013708439745584321, + "object_projection_between_fingers": 0.8260123625979495, + "object_to_finger_line_xy": 0.010156703910005874, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047777005750803556, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7460602338733695, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3372125647086166, + -0.3537072213986157, + 0.8470196052734316 + ], + "target_position": [ + 0.32818837616591806, + -0.3563125112157787, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009392737294611455, + "xy_threshold": 0.08, + "gripper_dist": 0.1887345173442998, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196052734316, + "min_z": 0.5730800627579278, + "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": 0.07569304186926222, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08711351406606731, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15679935254896515, + "release_required_pad_clearance": 0.053556757033033656, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1243996215530836, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008394181728363037, + "max_z_decrease": 0.008394181728363037, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034993753688309426, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008394181728363037, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02121425048498139, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008394181728363037, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008394221801623362, + "max_button_displacement": 0.12, + "button_start": [ + 0.18388830125331876, + -0.4125739634037018, + 0.7768088579177856 + ], + "button_final": [ + 0.18388830125331876, + -0.4125739634037018, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18394185610017585, + -0.41216549673068353, + 0.8034062255335602 + ], + "closest_button": [ + 0.18387395143508908, + -0.4125523567199707, + 0.7684146761894226 + ], + "closest_ee_minus_button": [ + 6.790466508677095e-05, + 0.00038685998928716936, + 0.03499154934413762 + ], + "button_min_z_position": [ + 0.18387395143508908, + -0.4125523567199707, + 0.7684146761894226 + ], + "min_active_finger_to_button": 0.14575907669908902, + "closest_active_finger": [ + 0.056372761726379395, + -0.4739353656768799, + 0.8079087138175964 + ], + "closest_active_finger_button": [ + 0.18390056490898127, + -0.41257622838020325, + 0.7730171084403992 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12752780318260187, + -0.061359137296676636, + 0.034891605377197266 + ], + "min_contact_pad_to_button": 0.02121425048498139, + "closest_contact_pad": [ + 0.18387395143508908, + -0.4134729287151764, + 0.7896089435945767 + ], + "closest_contact_pad_button": [ + 0.18387395143508908, + -0.4125523567199707, + 0.7684146761894226 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009205719952056768, + 0.021194267405154066 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7e3722d56948bdd689ac0b2265b1cf1a88435f5843e560ffaf9c947b1c17ea09", + "visual_seed": 2625520507246062833, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..30d6e9412bb0a33eacfdd1da5e018e586957c7ef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "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": [ + 0.32099446735973913, + 0.36382732222958747, + 1.1540733893310369 + ], + "current_z": 1.1540733893310369, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2974868223178265, + "gripper_z": 1.1472488986931124, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3157710004637113, + 0.3588438649440465, + 1.1472488986931124 + ], + "object_minus_gripper": [ + 0.0052234668960278174, + 0.004983457285540949, + 0.006824490637924452 + ], + "object_to_gripper_xy": 0.007219380370274837, + "object_to_gripper_z": 0.006824490637924452, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32099446735973913, + 0.33953184814660764, + 1.1540733893310369 + ], + "finger_b": [ + 0.3099414100879719, + 0.36382732222958747, + 1.1540733893310369 + ], + "finger_midpoint": [ + 0.3154679387238555, + 0.35167958518809755, + 1.1540733893310369 + ], + "object_minus_finger_midpoint": [ + 0.005526528635883654, + 0.012147737041489914, + 0.0 + ], + "finger_gap": 0.026691574250495443, + "fingertip_max_gap": 0.090612823674701, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013345787125247735, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1540733893310369, + "object_top_z": 1.1997339371737121, + "finger_top_clearance": 0.04566054784267526, + "fingertip_min_top_clearance": 0.013698164352802545, + "object_projection_between_fingers": 0.8285188201999882, + "object_to_finger_line_xy": 0.01006082533625488, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478064118373505, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7016817851145069, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 379, + "max_stable_success_frames": 379, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3350886360917364, + -0.3563121142199202, + 0.8470197288476261 + ], + "target_position": [ + 0.32656367620503524, + -0.35874494959336184, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008865304790255813, + "xy_threshold": 0.08, + "gripper_dist": 0.18929532647192104, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197288476261, + "min_z": 0.5730800627579278, + "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": 0.07530934047426571, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08590531803704886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15819479465880046, + "release_required_pad_clearance": 0.05295265901852443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9396108568694476, + "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": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008387267589569092, + "max_z_decrease": 0.008387267589569092, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502843586548504, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008387267589569092, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02109484515857443, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008387267589569092, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008387298369784925, + "max_button_displacement": 0.12, + "button_start": [ + 0.18226359784603113, + -0.4150063991546631, + 0.7768088579177856 + ], + "button_final": [ + 0.18226359784603113, + -0.4150063991546631, + 0.7768088579177856 + ], + "closest_ee": [ + 0.180474151850993, + -0.41451675718549297, + 0.8037448042065413 + ], + "closest_button": [ + 0.18225695192813868, + -0.4150034189224243, + 0.7687651515007019 + ], + "closest_ee_minus_button": [ + -0.0017828000771456798, + 0.0004866617369313486, + 0.03497965270583936 + ], + "button_min_z_position": [ + 0.1822663098573684, + -0.4149838387966156, + 0.7684215903282166 + ], + "min_active_finger_to_button": 0.1473037942438943, + "closest_active_finger": [ + 0.053067393600940704, + -0.4766819179058075, + 0.8081678152084351 + ], + "closest_active_finger_button": [ + 0.1822738498449325, + -0.41501194238662725, + 0.7735136151313782 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1292064562439918, + -0.06166997551918024, + 0.034654200077056885 + ], + "min_contact_pad_to_button": 0.02109484515857443, + "closest_contact_pad": [ + 0.1822663098573684, + -0.4157532732470908, + 0.7895023982560606 + ], + "closest_contact_pad_button": [ + 0.1822663098573684, + -0.4149838387966156, + 0.7684215903282166 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000769434450475226, + 0.02108080792784406 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5a9d051bd37d035cea04bd107f37a4b803e2d1435f8ff4ebf78a95659223530f", + "visual_seed": 4147551317412400004, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ddc3e040eee1e3a1b724b6dc9c0b04e1cbd61331 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "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": [ + 0.322759442202228, + 0.35758164705361756, + 1.154316254517059 + ], + "current_z": 1.154316254517059, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.29772968750384865, + "gripper_z": 1.1474878508232327, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31747337425097044, + 0.3525401012818489, + 1.1474878508232327 + ], + "object_minus_gripper": [ + 0.005286067951257578, + 0.00504154577176863, + 0.006828403693826424 + ], + "object_to_gripper_xy": 0.007304772286262634, + "object_to_gripper_z": 0.006828403693826424, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.322759442202228, + 0.33323719862803797, + 1.154316254517059 + ], + "finger_b": [ + 0.3116241384114503, + 0.35758164705361756, + 1.154316254517059 + ], + "finger_midpoint": [ + 0.3171917903068392, + 0.34540942284082776, + 1.154316254517059 + ], + "object_minus_finger_midpoint": [ + 0.0055676518953888254, + 0.012172224212789795, + 0.0 + ], + "finger_gap": 0.026770266335219995, + "fingertip_max_gap": 0.09042580154818627, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013385133167609985, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.154316254517059, + "object_top_z": 1.1999707679859848, + "finger_top_clearance": 0.045654513468925684, + "fingertip_min_top_clearance": 0.013696354040677705, + "object_projection_between_fingers": 0.8269790246960923, + "object_to_finger_line_xy": 0.010126265665168301, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04771290077409314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6734045630540193, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33613070619731594, + -0.35111223484920334, + 0.8470185164969196 + ], + "target_position": [ + 0.32746137786558616, + -0.35370190132665663, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009047852020660932, + "xy_threshold": 0.08, + "gripper_dist": 0.18588233806721197, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470185164969196, + "min_z": 0.5730800627579278, + "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": 0.07571691076759338, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08594981398730432, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1539225725874801, + "release_required_pad_clearance": 0.05297490699365216, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9787715621146604, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008277595043182373, + "max_z_decrease": 0.008277595043182373, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035043702858468716, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008277595043182373, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021062044764048667, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008277595043182373, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008277613261273716, + "max_button_displacement": 0.12, + "button_start": [ + 0.1831613034009933, + -0.4099633693695068, + 0.7768088579177856 + ], + "button_final": [ + 0.1831613034009933, + -0.4099633693695068, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18133040322124735, + -0.41089830725995213, + 0.8036539962585336 + ], + "closest_button": [ + 0.18316851556301111, + -0.40994745492935175, + 0.768671452999115 + ], + "closest_ee_minus_button": [ + -0.001838112341763759, + -0.0009508523306003824, + 0.03498254325941863 + ], + "button_min_z_position": [ + 0.18315830826759333, + -0.4099462628364563, + 0.7685312628746033 + ], + "min_active_finger_to_button": 0.14749406927203856, + "closest_active_finger": [ + 0.04037439823150635, + -0.39665457606315613, + 0.810394823551178 + ], + "closest_active_finger_button": [ + 0.1831644028425216, + -0.40996688604354853, + 0.7759231328964233 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14279000461101526, + 0.0133123099803924, + 0.03447169065475464 + ], + "min_contact_pad_to_button": 0.021062044764048667, + "closest_contact_pad": [ + 0.18315830826759333, + -0.41189862863978177, + 0.7895026242374904 + ], + "closest_contact_pad_button": [ + 0.18315830826759333, + -0.4099462628364563, + 0.7685312628746033 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019523658033254732, + 0.02097136136288713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "30b8827e43bee70cb16d4c332a88941af6c8f6f1479202fd0ba405275a38b971", + "visual_seed": 7018963451315270802, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1129ff2abf5de23cfc4fb9327920aa7164191bb9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "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": [ + 0.3283364853567272, + 0.3650378525349698, + 1.1578393341584272 + ], + "current_z": 1.1578393341584272, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.301252707540572, + "gripper_z": 1.1509636962729073, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32311518470149425, + 0.3600652318281074, + 1.1509636962729073 + ], + "object_minus_gripper": [ + 0.005221300655232963, + 0.004972620706862385, + 0.006875637885519925 + ], + "object_to_gripper_xy": 0.007210335444807872, + "object_to_gripper_z": 0.006875637885519925, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3283364853567272, + 0.3406952663559479, + 1.1578393341584272 + ], + "finger_b": [ + 0.3173621113620062, + 0.3650378525349698, + 1.1578393341584272 + ], + "finger_midpoint": [ + 0.3228492983593667, + 0.35286655944545886, + 1.1578393341584272 + ], + "object_minus_finger_midpoint": [ + 0.005487186997360505, + 0.012171293089510926, + 0.0 + ], + "finger_gap": 0.02670202963182981, + "fingertip_max_gap": 0.09050881601774333, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013351014815914879, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1578393341584272, + "object_top_z": 1.2034647779085796, + "finger_top_clearance": 0.04562544375015243, + "fingertip_min_top_clearance": 0.013687633125045728, + "object_projection_between_fingers": 0.8310839310953834, + "object_to_finger_line_xy": 0.010004656889784375, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047754408008871665, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6942109379268246, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 384, + "max_stable_success_frames": 384, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33244213470463285, + -0.3487375396796314, + 0.8470195932587993 + ], + "target_position": [ + 0.32387922346334447, + -0.35118864675941913, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008906816201245457, + "xy_threshold": 0.08, + "gripper_dist": 0.1900463869561592, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195932587993, + "min_z": 0.5730800627579278, + "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": 0.07554060785430096, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530647904523757, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1583941406566466, + "release_required_pad_clearance": 0.052653239522618786, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36476840909597946, + "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": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008430778980255127, + "max_z_decrease": 0.008430778980255127, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035006425720053656, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008430778980255127, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021124443868319322, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008430778980255127, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008430838071706553, + "max_button_displacement": 0.12, + "button_start": [ + 0.17957915365695953, + -0.4074501097202301, + 0.7768088579177856 + ], + "button_final": [ + 0.17957915365695953, + -0.4074501097202301, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17831470786429876, + -0.4078892698539444, + 0.8035436705474984 + ], + "closest_button": [ + 0.17955709993839264, + -0.4074435234069824, + 0.7685621380805969 + ], + "closest_ee_minus_button": [ + -0.0012423920740938788, + -0.00044574644696199206, + 0.0349815324669015 + ], + "button_min_z_position": [ + 0.17955473065376282, + -0.40743011236190796, + 0.7683780789375305 + ], + "min_active_finger_to_button": 0.14704681386503063, + "closest_active_finger": [ + 0.03763283044099808, + -0.39104002714157104, + 0.8074004054069519 + ], + "closest_active_finger_button": [ + 0.17958849668502808, + -0.40745845437049866, + 0.7727335691452026 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14195566624403, + 0.016418427228927612, + 0.03466683626174927 + ], + "min_contact_pad_to_button": 0.021124443868319322, + "closest_contact_pad": [ + 0.17955473065376282, + -0.40908799065827844, + 0.7894373659221413 + ], + "closest_contact_pad_button": [ + 0.17955473065376282, + -0.40743011236190796, + 0.7683780789375305 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016578782963704852, + 0.021059286984610792 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6ca3d9a9345ef98e186b31c05f2fb3c0284df526cd28fb55962eb5cc2abc7e8c", + "visual_seed": 7066990668714644212, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..05ae90d60dc4eb6bca9e34c41d23878c8bcc4163 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "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": [ + 0.3267686281233907, + 0.3601253096560317, + 1.156640320985302 + ], + "current_z": 1.156640320985302, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30005375397209166, + "gripper_z": 1.149805575345129, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32168904870962073, + 0.3550222764532661, + 1.149805575345129 + ], + "object_minus_gripper": [ + 0.0050795794137699635, + 0.005103033202765561, + 0.006834745640172946 + ], + "object_to_gripper_xy": 0.00720021353081444, + "object_to_gripper_z": 0.006834745640172946, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3267686281233907, + 0.3360613814069378, + 1.156640320985302 + ], + "finger_b": [ + 0.315366407778405, + 0.3601253096560317, + 1.156640320985302 + ], + "finger_midpoint": [ + 0.32106751795089783, + 0.34809334553148474, + 1.156640320985302 + ], + "object_minus_finger_midpoint": [ + 0.0057011101724928626, + 0.012031964124546934, + 0.0 + ], + "finger_gap": 0.026628617530265124, + "fingertip_max_gap": 0.09053644590100499, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013314308765132574, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156640320985302, + "object_top_z": 1.2023377322326008, + "finger_top_clearance": 0.04569741124729876, + "fingertip_min_top_clearance": 0.013709223374189627, + "object_projection_between_fingers": 0.8166497024994416, + "object_to_finger_line_xy": 0.010304035196353721, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047768222950502495, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7246464076198622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 386, + "max_stable_success_frames": 386, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3303925831237838, + -0.3520415875694529, + 0.8470193698171449 + ], + "target_position": [ + 0.3228421205842364, + -0.3537967069666093, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007751769388944886, + "xy_threshold": 0.08, + "gripper_dist": 0.18803718232396183, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193698171449, + "min_z": 0.5730800627579278, + "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": 0.07560189958370904, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0852542671466333, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15607885028013302, + "release_required_pad_clearance": 0.05262713357331665, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3140340705455105, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00845867395401001, + "max_z_decrease": 0.00845867395401001, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501110341920633, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00845867395401001, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02101089225270711, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00845867395401001, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008458724340699613, + "max_button_displacement": 0.12, + "button_start": [ + 0.17854204773902888, + -0.4100581705570221, + 0.7768088579177856 + ], + "button_final": [ + 0.17854204773902888, + -0.4100581705570221, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17746180518625465, + -0.410786451313801, + 0.803704246451111 + ], + "closest_button": [ + 0.17853625118732447, + -0.4100320637226105, + 0.7687177658081055 + ], + "closest_ee_minus_button": [ + -0.0010744460010698176, + -0.0007543875911905085, + 0.03498648064300558 + ], + "button_min_z_position": [ + 0.17852921783924097, + -0.4100319445133209, + 0.7683501839637756 + ], + "min_active_finger_to_button": 0.14673628965272587, + "closest_active_finger": [ + 0.036535970866680145, + -0.39655327796936035, + 0.8104037642478943 + ], + "closest_active_finger_button": [ + 0.1785449236631393, + -0.41006261110305786, + 0.776016354560852 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14200895279645914, + 0.01350933313369751, + 0.034387409687042236 + ], + "min_contact_pad_to_button": 0.02101089225270711, + "closest_contact_pad": [ + 0.17852921783924097, + -0.4117867275357023, + 0.7892876701977826 + ], + "closest_contact_pad_button": [ + 0.17852921783924097, + -0.4100319445133209, + 0.7683501839637756 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017547830223813565, + 0.02093748623400693 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ba0453369540fe26be6190682f3f939ee466023a48812c31ca96a5e42d7f6e64", + "visual_seed": 8200883585107387588, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..df79a2b12099a6a98919ed668fe3f694b571e2ef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "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": [ + 0.32430302800643745, + 0.36187302665787807, + 1.1565731352735618 + ], + "current_z": 1.1565731352735618, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2999866278649962, + "gripper_z": 1.149800137256099, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3192007373408843, + 0.3567612372581495, + 1.149800137256099 + ], + "object_minus_gripper": [ + 0.0051022906655531775, + 0.005111789399728561, + 0.0067729980174626725 + ], + "object_to_gripper_xy": 0.007222448400851914, + "object_to_gripper_z": 0.0067729980174626725, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32430302800643745, + 0.3376862633933831, + 1.1565731352735618 + ], + "finger_b": [ + 0.31302275044290856, + 0.36187302665787807, + 1.1565731352735618 + ], + "finger_midpoint": [ + 0.318662889224673, + 0.3497796450256306, + 1.1565731352735618 + ], + "object_minus_finger_midpoint": [ + 0.005640138781764448, + 0.01209338163224749, + 0.0 + ], + "finger_gap": 0.026687903235791628, + "fingertip_max_gap": 0.09077052234698188, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013343951617895814, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1565731352735618, + "object_top_z": 1.2023894827057093, + "finger_top_clearance": 0.045816347432147575, + "fingertip_min_top_clearance": 0.013744904229644238, + "object_projection_between_fingers": 0.8213468559800148, + "object_to_finger_line_xy": 0.010223111219204568, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04788526117349094, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8302104680005759, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 385, + "max_stable_success_frames": 385, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33021499038983043, + -0.35525479615342903, + 0.8470186634545044 + ], + "target_position": [ + 0.32194511377588214, + -0.3573667638303954, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008535295348052084, + "xy_threshold": 0.08, + "gripper_dist": 0.18786457617096503, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470186634545044, + "min_z": 0.5730800627579278, + "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": 0.07520209639147471, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08653480645715438, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15700412214647252, + "release_required_pad_clearance": 0.05326740322857719, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.549611083654609, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008133232593536377, + "max_z_decrease": 0.008133232593536377, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500337015235402, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008133232593536377, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020994844683818608, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008133232593536377, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008133277093561085, + "max_button_displacement": 0.12, + "button_start": [ + 0.17764504253864286, + -0.4136282205581665, + 0.7768088579177856 + ], + "button_final": [ + 0.17764504253864286, + -0.4136282205581665, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17669284933014268, + -0.4131263764926882, + 0.8036620018574685 + ], + "closest_button": [ + 0.1776681393384933, + -0.41361442208290095, + 0.7686756253242493 + ], + "closest_ee_minus_button": [ + -0.0009752900083506155, + 0.00048804559021276006, + 0.03498637653321923 + ], + "button_min_z_position": [ + 0.1776681393384933, + -0.41361442208290095, + 0.7686756253242493 + ], + "min_active_finger_to_button": 0.146445373799788, + "closest_active_finger": [ + 0.04987107962369919, + -0.4763495922088623, + 0.811080276966095 + ], + "closest_active_finger_button": [ + 0.17764979600906372, + -0.4136302173137664, + 0.7766546010971069 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12777871638536453, + -0.06271937489509588, + 0.03442567586898804 + ], + "min_contact_pad_to_button": 0.020994844683818608, + "closest_contact_pad": [ + 0.1776681393384933, + -0.4142785839889461, + 0.7896599621558059 + ], + "closest_contact_pad_button": [ + 0.1776681393384933, + -0.41361442208290095, + 0.7686756253242493 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006641619060451798, + 0.02098433683155665 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3af664408d5fc7ec1f979d73855dcd55b231e4a64dca459023eecdb681734c1b", + "visual_seed": 7717219463209664560, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fbeb1e21cfbedf3c9f4e1f61cfa7891310140385 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "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": [ + 0.3241864423722593, + 0.3581898200460802, + 1.154063896272753 + ], + "current_z": 1.154063896272753, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.2974774484688322, + "gripper_z": 1.1472467418317862, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3188644367605401, + 0.3531411449382454, + 1.1472467418317862 + ], + "object_minus_gripper": [ + 0.005322005611719194, + 0.005048675107834799, + 0.006817154440966755 + ], + "object_to_gripper_xy": 0.0073357251908479585, + "object_to_gripper_z": 0.006817154440966755, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3241864423722593, + 0.33374910720980827, + 1.154063896272753 + ], + "finger_b": [ + 0.3131375647875394, + 0.3581898200460802, + 1.154063896272753 + ], + "finger_midpoint": [ + 0.3186620035798994, + 0.34596946362794423, + 1.154063896272753 + ], + "object_minus_finger_midpoint": [ + 0.00552443879235992, + 0.012220356418135958, + 0.0 + ], + "finger_gap": 0.026822120345476652, + "fingertip_max_gap": 0.09063145763032224, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013411060172738316, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.154063896272753, + "object_top_z": 1.1997625619524834, + "finger_top_clearance": 0.045698665679730466, + "fingertip_min_top_clearance": 0.013709599703919172, + "object_projection_between_fingers": 0.830312398835769, + "object_to_finger_line_xy": 0.010067900700356146, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781572881516112, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.664978093105043, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3356888139014041, + -0.3537397797666991, + 0.8470194757321496 + ], + "target_position": [ + 0.3271052157903048, + -0.35628296301956125, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008952426352140814, + "xy_threshold": 0.08, + "gripper_dist": 0.1867717033589345, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194757321496, + "min_z": 0.5730800627579278, + "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": 0.07558207519389887, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08529130239648695, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1550552642528544, + "release_required_pad_clearance": 0.05264565119824348, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3494250367917465, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008435726165771484, + "max_z_decrease": 0.008435726165771484, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499356238847357, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008435726165771484, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021120553479699083, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008435726165771484, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00843577022626631, + "max_button_displacement": 0.12, + "button_start": [ + 0.18280513584613797, + -0.4125444293022155, + 0.7768088579177856 + ], + "button_final": [ + 0.18280513584613797, + -0.4125444293022155, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18298075227007088, + -0.4125796995873129, + 0.8033662189319836 + ], + "closest_button": [ + 0.18280932307243342, + -0.41251748800277704, + 0.7683731317520142 + ], + "closest_ee_minus_button": [ + 0.00017142919763746267, + -6.221158453584286e-05, + 0.03499308717996941 + ], + "button_min_z_position": [ + 0.18280932307243342, + -0.41251748800277704, + 0.7683731317520142 + ], + "min_active_finger_to_button": 0.14569522684373493, + "closest_active_finger": [ + 0.04221189022064209, + -0.39666032791137695, + 0.8076497912406921 + ], + "closest_active_finger_button": [ + 0.1828162372112274, + -0.41254958510398865, + 0.7729359865188599 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406043469905853, + 0.015889257192611694, + 0.034713804721832275 + ], + "min_contact_pad_to_button": 0.021120553479699083, + "closest_contact_pad": [ + 0.18280932307243342, + -0.4137463546128767, + 0.7894579050764635 + ], + "closest_contact_pad_button": [ + 0.18280932307243342, + -0.41251748800277704, + 0.7683731317520142 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012288666100996326, + 0.021084773324449357 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b0f66d2a33dc0658f4b5203910fc34dd7e0e05262e84b8503974d75832d0c3b", + "visual_seed": 4089483907919260325, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1a22afa17f63daa6db351d68a64df5699df721b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "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": [ + 0.3253174988020303, + 0.3619091483698912, + 1.1557878951223726 + ], + "current_z": 1.1557878951223726, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.299201387713807, + "gripper_z": 1.148974480393055, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32014837398016194, + 0.35684989493277847, + 1.148974480393055 + ], + "object_minus_gripper": [ + 0.005169124821868376, + 0.005059253437112721, + 0.006813414729317513 + ], + "object_to_gripper_xy": 0.007232972885680732, + "object_to_gripper_z": 0.006813414729317513, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3253174988020303, + 0.3376819058919052, + 1.1557878951223726 + ], + "finger_b": [ + 0.3141067838532889, + 0.3619091483698912, + 1.1557878951223726 + ], + "finger_midpoint": [ + 0.31971214132765957, + 0.34979552713089823, + 1.1557878951223726 + ], + "object_minus_finger_midpoint": [ + 0.005605357474370742, + 0.012113621238992955, + 0.0 + ], + "finger_gap": 0.026695306848752688, + "fingertip_max_gap": 0.09060861250003518, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01334765342437633, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1557878951223726, + "object_top_z": 1.2015068759267287, + "finger_top_clearance": 0.0457189808043561, + "fingertip_min_top_clearance": 0.013715694241306796, + "object_projection_between_fingers": 0.8236413418970095, + "object_to_finger_line_xy": 0.01017424938973614, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047804306250017595, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7842299110085252, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 385, + "max_stable_success_frames": 385, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.331369964499752, + -0.3521631705089757, + 0.8470192729816413 + ], + "target_position": [ + 0.32306244465028966, + -0.3545307215124018, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008638297506050262, + "xy_threshold": 0.08, + "gripper_dist": 0.1872730108653516, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192729816413, + "min_z": 0.5730800627579278, + "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": 0.07561089524628703, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08517400327105205, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1555246461553756, + "release_required_pad_clearance": 0.05258700163552603, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23738701968228046, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008418023586273193, + "max_z_decrease": 0.008418023586273193, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500121423303464, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008418023586273193, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021121614844186416, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008418023586273193, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008418061061624724, + "max_button_displacement": 0.12, + "button_start": [ + 0.17876237630844116, + -0.41079217195510864, + 0.7768088579177856 + ], + "button_final": [ + 0.17876237630844116, + -0.41079217195510864, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17760693197002433, + -0.4111481510049691, + 0.803559824698948 + ], + "closest_button": [ + 0.17876426875591278, + -0.4107823967933654, + 0.7685796618461609 + ], + "closest_ee_minus_button": [ + -0.0011573367858884465, + -0.00036575421160367494, + 0.034980162852787156 + ], + "button_min_z_position": [ + 0.1787753850221634, + -0.41077068448066706, + 0.7683908343315125 + ], + "min_active_finger_to_button": 0.1469598038144462, + "closest_active_finger": [ + 0.03695046156644821, + -0.3939817249774933, + 0.807903528213501 + ], + "closest_active_finger_button": [ + 0.17876997590065002, + -0.41079843044281006, + 0.7732393145561218 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1418195143342018, + 0.016816705465316772, + 0.03466421365737915 + ], + "min_contact_pad_to_button": 0.021121614844186416, + "closest_contact_pad": [ + 0.1787753850221634, + -0.4124042505276094, + 0.7894491836399562 + ], + "closest_contact_pad_button": [ + 0.1787753850221634, + -0.41077068448066706, + 0.7683908343315125 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016335660469423141, + 0.021058349308443747 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ee642284163e7e97130581677fce4b1cbd47398383f28c43614dc263fe04640", + "visual_seed": 7007543308131861357, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..247d0563d1384fdb47255ea5c8b542051dfcfc76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "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": [ + 0.32060590798202104, + 0.36538005483674174, + 1.1574709845641558 + ], + "current_z": 1.1574709845641558, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.30088435794630064, + "gripper_z": 1.1506658663106806, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3153948384718024, + 0.36027336478623023, + 1.1506658663106806 + ], + "object_minus_gripper": [ + 0.005211069510218658, + 0.005106690050511509, + 0.006805118253475184 + ], + "object_to_gripper_xy": 0.0072961310783403385, + "object_to_gripper_z": 0.006805118253475184, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32060590798202104, + 0.3411633889111364, + 1.1574709845641558 + ], + "finger_b": [ + 0.30929183701836405, + 0.36538005483674174, + 1.1574709845641558 + ], + "finger_midpoint": [ + 0.31494887250019254, + 0.35327172187393907, + 1.1574709845641558 + ], + "object_minus_finger_midpoint": [ + 0.0056570354818284985, + 0.01210833296280267, + 0.0 + ], + "finger_gap": 0.02672929311304437, + "fingertip_max_gap": 0.09056426221210132, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013364646556522185, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1574709845641558, + "object_top_z": 1.2031424210191326, + "finger_top_clearance": 0.045671436454976844, + "fingertip_min_top_clearance": 0.013701430936493019, + "object_projection_between_fingers": 0.8208310082451681, + "object_to_finger_line_xy": 0.010250517124665794, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778213110605066, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6239591284774404, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3311035730310411, + -0.35661543217480046, + 0.84701960199943 + ], + "target_position": [ + 0.32375870865942824, + -0.35810119716783506, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007493632647248933, + "xy_threshold": 0.08, + "gripper_dist": 0.18587803288478527, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701960199943, + "min_z": 0.5730800627579278, + "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": 0.07529771389411243, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08623097561869024, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15477566793417738, + "release_required_pad_clearance": 0.05311548780934512, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.257391537898545, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008291125297546387, + "max_z_decrease": 0.008291125297546387, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502933096661456, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008291125297546387, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02118086283013093, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008291125297546387, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008291145837742509, + "max_button_displacement": 0.12, + "button_start": [ + 0.1794586330652237, + -0.4143626689910888, + 0.7768088579177856 + ], + "button_final": [ + 0.1794586330652237, + -0.4143626689910888, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1777745026081399, + -0.41523381677257853, + 0.8037091927660311 + ], + "closest_button": [ + 0.17945580184459686, + -0.4143587946891784, + 0.7687311768531799 + ], + "closest_ee_minus_button": [ + -0.0016812992364569623, + -0.0008750220834001232, + 0.03497801591285121 + ], + "button_min_z_position": [ + 0.17945809662342072, + -0.41434422135353083, + 0.7685177326202393 + ], + "min_active_finger_to_button": 0.14741050710145912, + "closest_active_finger": [ + 0.037165358662605286, + -0.39773622155189514, + 0.8077577352523804 + ], + "closest_active_finger_button": [ + 0.17946787178516388, + -0.41436886787414545, + 0.7730704545974731 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1423025131225586, + 0.01663264632225031, + 0.03468728065490723 + ], + "min_contact_pad_to_button": 0.02118086283013093, + "closest_contact_pad": [ + 0.17945809662342072, + -0.4165349490551642, + 0.7895849978050258 + ], + "closest_contact_pad_button": [ + 0.17945809662342072, + -0.41434422135353083, + 0.7685177326202393 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002190727701633366, + 0.02106726518478652 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7dd647d79a82e43719066a19cefe2826e4ef01be65427ee75af8d0b441b162ac", + "visual_seed": 6484591197849583645, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a6e2951127f1568468b563529468d4c82411d6b2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "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": [ + 0.32366897141467443, + 0.36543868736107843, + 1.1561612552573186 + ], + "current_z": 1.1561612552573186, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29957468824410827, + "gripper_z": 1.1493313329288728, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31845030157769944, + 0.36037775678861994, + 1.1493313329288728 + ], + "object_minus_gripper": [ + 0.005218669836974998, + 0.0050609305724584885, + 0.006829922328445814 + ], + "object_to_gripper_xy": 0.007269630879666289, + "object_to_gripper_z": 0.006829922328445814, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32366897141467443, + 0.3412411778608877, + 1.1561612552573186 + ], + "finger_b": [ + 0.3123809154853693, + 0.36543868736107843, + 1.1561612552573186 + ], + "finger_midpoint": [ + 0.31802494345002186, + 0.35333993261098307, + 1.1561612552573186 + ], + "object_minus_finger_midpoint": [ + 0.005644027964652576, + 0.012098754750095364, + 0.0 + ], + "finger_gap": 0.026700930183702246, + "fingertip_max_gap": 0.09050850048658013, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013350465091851123, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1561612552573186, + "object_top_z": 1.2018238534014418, + "finger_top_clearance": 0.04566259814412321, + "fingertip_min_top_clearance": 0.013698779443236964, + "object_projection_between_fingers": 0.8212749107017121, + "object_to_finger_line_xy": 0.010229712549668658, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775425024329007, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6579967855451875, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3299253837198304, + -0.3563868450044575, + 0.8470197820412789 + ], + "target_position": [ + 0.3221291296250197, + -0.3583127739896048, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008030615192292718, + "xy_threshold": 0.08, + "gripper_dist": 0.18857350860611585, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197820412789, + "min_z": 0.5730800627579278, + "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": 0.07544460740723472, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598286152331884, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15699859235722172, + "release_required_pad_clearance": 0.05299143076165942, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0148964838424728, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008278310298919678, + "max_z_decrease": 0.008278310298919678, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499643011058261, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008278310298919678, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021112481024454496, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008278310298919678, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008278340849854054, + "max_button_displacement": 0.12, + "button_start": [ + 0.17782905697822574, + -0.41457423567771895, + 0.7768088579177856 + ], + "button_final": [ + 0.17782905697822574, + -0.41457423567771895, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17799833686738253, + -0.4148989931136731, + 0.8036657015347634 + ], + "closest_button": [ + 0.17783841490745547, + -0.4145604670047759, + 0.7686712741851807 + ], + "closest_ee_minus_button": [ + 0.00015992195992706182, + -0.0003385261088972302, + 0.03499442734958269 + ], + "button_min_z_position": [ + 0.1778403818607331, + -0.41455480456352223, + 0.768530547618866 + ], + "min_active_finger_to_button": 0.14566340774089956, + "closest_active_finger": [ + 0.037306249141693115, + -0.3981475830078125, + 0.8076993227005005 + ], + "closest_active_finger_button": [ + 0.1778386533260346, + -0.4145798385143279, + 0.7730806469917297 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1405324041843415, + 0.016432255506515392, + 0.03461867570877075 + ], + "min_contact_pad_to_button": 0.021112481024454496, + "closest_contact_pad": [ + 0.1778403818607331, + -0.41613942248015356, + 0.7895834771315547 + ], + "closest_contact_pad_button": [ + 0.1778403818607331, + -0.41455480456352223, + 0.768530547618866 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015846179166313368, + 0.02105292951268878 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8ed1e531f4ac747430b35a6c7f26cf6c66d37ebaf3a5e746a8d9caacf613381d", + "visual_seed": 8801919262744542773, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e26ac0a37fc05e17e8180bf3d28cef5af3cc54ca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "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": [ + 0.32536447050820094, + 0.3582175306585872, + 1.1557428082878054 + ], + "current_z": 1.1557428082878054, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.29915630087924006, + "gripper_z": 1.14893856321854, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3202901006811357, + 0.35312323423370046, + 1.14893856321854 + ], + "object_minus_gripper": [ + 0.005074369827065217, + 0.005094296424886735, + 0.006804245069265358 + ], + "object_to_gripper_xy": 0.00719034666802955, + "object_to_gripper_z": 0.006804245069265358, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32536447050820094, + 0.3341310833585058, + 1.1557428082878054 + ], + "finger_b": [ + 0.31400615428260603, + 0.3582175306585872, + 1.1557428082878054 + ], + "finger_midpoint": [ + 0.3196853123954035, + 0.34617430700854646, + 1.1557428082878054 + ], + "object_minus_finger_midpoint": [ + 0.0056791581127974555, + 0.012043223650040735, + 0.0 + ], + "finger_gap": 0.02663021387484922, + "fingertip_max_gap": 0.09066543985172407, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013315106937424635, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1557428082878054, + "object_top_z": 1.2014885183276935, + "finger_top_clearance": 0.04574571003988814, + "fingertip_min_top_clearance": 0.013723713011966409, + "object_projection_between_fingers": 0.8180807727669036, + "object_to_finger_line_xy": 0.010273349154128818, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047832719925862036, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8195473156561282, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 386, + "max_stable_success_frames": 386, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32756350999338474, + -0.3557142021513575, + 0.8470192310180057 + ], + "target_position": [ + 0.3198832221689264, + -0.35761667676764264, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007912409919369211, + "xy_threshold": 0.08, + "gripper_dist": 0.18651398433273716, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192310180057, + "min_z": 0.5730800627579278, + "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": 0.07589668892490946, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08763517976311173, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15414590137980738, + "release_required_pad_clearance": 0.05381758988155587, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6423154822335833, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008472681045532227, + "max_z_decrease": 0.008472681045532227, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035057636765601155, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008472681045532227, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021064520103906855, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008472681045532227, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008472732872752985, + "max_button_displacement": 0.12, + "button_start": [ + 0.1755831539630889, + -0.4138781428337097, + 0.7768088579177856 + ], + "button_final": [ + 0.1755831539630889, + -0.4138781428337097, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17393803279169326, + -0.4156138345815206, + 0.8036800101750206 + ], + "closest_button": [ + 0.17557485401630393, + -0.4138520359992981, + 0.7687049508094788 + ], + "closest_ee_minus_button": [ + -0.001636821224610674, + -0.001761798582222529, + 0.034975059365541794 + ], + "button_min_z_position": [ + 0.17556999623775477, + -0.4138515889644623, + 0.7683361768722534 + ], + "min_active_finger_to_button": 0.14716082695727387, + "closest_active_finger": [ + 0.03300262242555618, + -0.4015214145183563, + 0.8110350966453552 + ], + "closest_active_finger_button": [ + 0.1755849123001098, + -0.41388118267059326, + 0.7767738103866577 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14258228987455362, + 0.012359768152236938, + 0.03426128625869751 + ], + "min_contact_pad_to_button": 0.021064520103906855, + "closest_contact_pad": [ + 0.17556999623775477, + -0.4165986658075485, + 0.7892208022226416 + ], + "closest_contact_pad_button": [ + 0.17556999623775477, + -0.4138515889644623, + 0.7683361768722534 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002747076843086227, + 0.020884625350388153 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7f2ffab44a8d98fbbd66d1b1302d0d3005014c003952f091bee94c3361dfa6ee", + "visual_seed": 6531137943896155953, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..521e3085afde1d94b1d06284e9030732cde3cccf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "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": [ + 0.3251707423385569, + 0.3633249961605423, + 1.1555406242105664 + ], + "current_z": 1.1555406242105664, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.29895399759271124, + "gripper_z": 1.1487786012479004, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3201436968536855, + 0.35829576289528753, + 1.1487786012479004 + ], + "object_minus_gripper": [ + 0.0050270454848714285, + 0.005029233265254784, + 0.006762022962665926 + ], + "object_to_gripper_xy": 0.007110863065993573, + "object_to_gripper_z": 0.006762022962665926, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3251707423385569, + 0.33917060103227215, + 1.1555406242105664 + ], + "finger_b": [ + 0.314030549761125, + 0.3633249961605423, + 1.1555406242105664 + ], + "finger_midpoint": [ + 0.31960064604984095, + 0.3512477985964072, + 1.1555406242105664 + ], + "object_minus_finger_midpoint": [ + 0.005570096288715964, + 0.012077197564135111, + 0.0 + ], + "finger_gap": 0.026599599520949015, + "fingertip_max_gap": 0.09079452926104922, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013299799760474532, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1555406242105664, + "object_top_z": 1.201347357655456, + "finger_top_clearance": 0.045806733444889725, + "fingertip_min_top_clearance": 0.013742020033466884, + "object_projection_between_fingers": 0.8245977335284852, + "object_to_finger_line_xy": 0.010116115210997477, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047897264630524614, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9484834869882465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 390, + "max_stable_success_frames": 390, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3332831422728666, + -0.3507822587043166, + 0.8470192474688849 + ], + "target_position": [ + 0.32516923939074394, + -0.3530840726120398, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008434083663700886, + "xy_threshold": 0.08, + "gripper_dist": 0.1883643319401612, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192474688849, + "min_z": 0.5730800627579278, + "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": 0.0755163559783918, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861420388823526, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15681691789191354, + "release_required_pad_clearance": 0.0530710194411763, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1683345619000958, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00818246603012085, + "max_z_decrease": 0.00818246603012085, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035087956126377606, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00818246603012085, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021319172684426214, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00818246603012085, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008182481837576154, + "max_button_displacement": 0.12, + "button_start": [ + 0.18086916208267212, + -0.4093455374240874, + 0.7768088579177856 + ], + "button_final": [ + 0.18086916208267212, + -0.4093455374240874, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17859680709890324, + -0.4110639881288491, + 0.8035991140453529 + ], + "closest_button": [ + 0.18085452914237976, + -0.4093388617038726, + 0.7686263918876648 + ], + "closest_ee_minus_button": [ + -0.0022577220434765177, + -0.0017251264249764642, + 0.034972722157688096 + ], + "button_min_z_position": [ + 0.18085452914237976, + -0.4093388617038726, + 0.7686263918876648 + ], + "min_active_finger_to_button": 0.14787019384022496, + "closest_active_finger": [ + 0.03804454207420349, + -0.3933641314506531, + 0.8078995943069458 + ], + "closest_active_finger_button": [ + 0.18087942898273468, + -0.4093514382839202, + 0.7731404900550842 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1428348869085312, + 0.0159873068332671, + 0.03475910425186157 + ], + "min_contact_pad_to_button": 0.021319172684426214, + "closest_contact_pad": [ + 0.18085452914237976, + -0.41238753623364277, + 0.7897264560477548 + ], + "closest_contact_pad_button": [ + 0.18085452914237976, + -0.4093388617038726, + 0.7686263918876648 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030486745297701456, + 0.021100064160090026 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "387e01068d9a11cf1ca0de405a5074dd2169f66d656c37dc9c55f6178ecd5e69", + "visual_seed": 5178324555119375100, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8102c95cae70be91a05a8f6450ceca610dae6dae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "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": [ + 0.32955084610563845, + 0.36275897679274854, + 1.1565807272741804 + ], + "current_z": 1.1565807272741804, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29999416026097003, + "gripper_z": 1.149732823499475, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32450841972571953, + 0.35769397453445967, + 1.149732823499475 + ], + "object_minus_gripper": [ + 0.005042426379918918, + 0.005065002258288875, + 0.006847903774705344 + ], + "object_to_gripper_xy": 0.007147049158455091, + "object_to_gripper_z": 0.006847903774705344, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32955084610563845, + 0.3386319996857675, + 1.1565807272741804 + ], + "finger_b": [ + 0.3183230649551339, + 0.36275897679274854, + 1.1565807272741804 + ], + "finger_midpoint": [ + 0.32393695553038615, + 0.350695488239258, + 1.1565807272741804 + ], + "object_minus_finger_midpoint": [ + 0.0056138905752523005, + 0.012063488553490542, + 0.0 + ], + "finger_gap": 0.02661154061463582, + "fingertip_max_gap": 0.09073715077133734, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013305770307317947, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1565807272741804, + "object_top_z": 1.2022883459837959, + "finger_top_clearance": 0.04570761870961548, + "fingertip_min_top_clearance": 0.013712285612884645, + "object_projection_between_fingers": 0.8219885891728183, + "object_to_finger_line_xy": 0.010179509059743467, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047868575385668674, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7084549316467915, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3350924886214212, + -0.35628224331583697, + 0.8470195728652605 + ], + "target_position": [ + 0.3273274738610644, + -0.3582248667481352, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008004326331945305, + "xy_threshold": 0.08, + "gripper_dist": 0.18752119609066525, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195728652605, + "min_z": 0.5730800627579278, + "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": 0.07574201805556433, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08579081560348577, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15545762733260193, + "release_required_pad_clearance": 0.052895407801742886, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8308601389861114, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00844871997833252, + "max_z_decrease": 0.00844871997833252, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500559740038467, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00844871997833252, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021071442297374517, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00844871997833252, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008448759370466777, + "max_button_displacement": 0.12, + "button_start": [ + 0.18302740156650543, + -0.41448631882667536, + 0.7768088579177856 + ], + "button_final": [ + 0.18302740156650543, + -0.41448631882667536, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1828844162341892, + -0.4134847269656948, + 0.8033517555876059 + ], + "closest_button": [ + 0.18303650617599487, + -0.4144621789455413, + 0.7683601379394531 + ], + "closest_ee_minus_button": [ + -0.00015208994180568314, + 0.0009774519798464998, + 0.03499161764815273 + ], + "button_min_z_position": [ + 0.18303650617599487, + -0.4144621789455413, + 0.7683601379394531 + ], + "min_active_finger_to_button": 0.14559537351509613, + "closest_active_finger": [ + 0.05603419244289398, + -0.47670525312423706, + 0.8097841739654541 + ], + "closest_active_finger_button": [ + 0.1830333173274994, + -0.4144889116287231, + 0.7751668095588684 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1269991248846054, + -0.06221634149551397, + 0.03461736440658569 + ], + "min_contact_pad_to_button": 0.021071442297374517, + "closest_contact_pad": [ + 0.18303650617599487, + -0.41464276574374515, + 0.789430806388743 + ], + "closest_contact_pad_button": [ + 0.18303650617599487, + -0.4144621789455413, + 0.7683601379394531 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00018058679820381895, + 0.021070668449289842 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ba820f06cddd6a27182fe66fb82a6558ca533d449e930f2cf4554813147fd86a", + "visual_seed": 7230585882672477393, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a23f7d6f205e914675fd587d0847d0efea565caa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "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": [ + 0.3258210252202139, + 0.3556310801795874, + 1.1573278369958453 + ], + "current_z": 1.1573278369958453, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3007413891919245, + "gripper_z": 1.150483154850042, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3204539413902163, + 0.35061585546137997, + 1.150483154850042 + ], + "object_minus_gripper": [ + 0.005367083829997565, + 0.005015224718207423, + 0.006844682145803249 + ], + "object_to_gripper_xy": 0.007345615550268069, + "object_to_gripper_z": 0.006844682145803249, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3258210252202139, + 0.33116400710643196, + 1.1573278369958453 + ], + "finger_b": [ + 0.3148152448828738, + 0.3556310801795874, + 1.1573278369958453 + ], + "finger_midpoint": [ + 0.32031813505154383, + 0.3433975436430097, + 1.1573278369958453 + ], + "object_minus_finger_midpoint": [ + 0.00550289016867006, + 0.012233536536577716, + 0.0 + ], + "finger_gap": 0.0268284339013836, + "fingertip_max_gap": 0.09048278047856959, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01341421695069181, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1573278369958453, + "object_top_z": 1.202958424165631, + "finger_top_clearance": 0.04563058716978574, + "fingertip_min_top_clearance": 0.013689176150935721, + "object_projection_between_fingers": 0.8317128181400519, + "object_to_finger_line_xy": 0.010037083518576483, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047741390239284795, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6822454723339791, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33054983416356054, + -0.3551709756764652, + 0.847019320918377 + ], + "target_position": [ + 0.32165948619362567, + -0.3576820099582615, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00923815891781914, + "xy_threshold": 0.08, + "gripper_dist": 0.18891960327092935, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019320918377, + "min_z": 0.5730800627579278, + "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": 0.07518768987493711, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08508612312384421, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1580725873903474, + "release_required_pad_clearance": 0.05254306156192211, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.15323056536793958, + "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": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00845247507095337, + "max_z_decrease": 0.00845247507095337, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501797731231607, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00845247507095337, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02098584344761081, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00845247507095337, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008452496675187417, + "max_button_displacement": 0.12, + "button_start": [ + 0.17735941708087918, + -0.4139434695243835, + 0.7768088579177856 + ], + "button_final": [ + 0.17735941708087918, + -0.4139434695243835, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17625550017651972, + -0.41299453252073637, + 0.8033445640369031 + ], + "closest_button": [ + 0.17736060917377472, + -0.4139243960380554, + 0.7683563828468323 + ], + "closest_ee_minus_button": [ + -0.0011051089972549943, + 0.0009298635173190517, + 0.034988181190070855 + ], + "button_min_z_position": [ + 0.17736060917377472, + -0.4139243960380554, + 0.7683563828468323 + ], + "min_active_finger_to_button": 0.14641961383898094, + "closest_active_finger": [ + 0.04933025687932968, + -0.4760792851448059, + 0.8104808330535889 + ], + "closest_active_finger_button": [ + 0.17736409604549408, + -0.4139470756053924, + 0.7760478854179382 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1280338391661644, + -0.06213220953941351, + 0.034432947635650635 + ], + "min_contact_pad_to_button": 0.02098584344761081, + "closest_contact_pad": [ + 0.17736060917377472, + -0.4141595757452116, + 0.7893409084719917 + ], + "closest_contact_pad_button": [ + 0.17736060917377472, + -0.4139243960380554, + 0.7683563828468323 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00023517970715619674, + 0.0209845256251594 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "19d616ab9200ac3b477c2d8a27740126c25c00efa387cfc16263ce75f8dbd15c", + "visual_seed": 4550338681060106541, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..53072852b7ca91496d453d8c709bbc0dce5db860 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_64_success.json @@ -0,0 +1,700 @@ +{ + "episode": 64, + "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": [ + 0.32867567799186453, + 0.3650847145168188, + 1.1559515048443234 + ], + "current_z": 1.1559515048443234, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29936493783111306, + "gripper_z": 1.1490841058807388, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32350060370842515, + 0.3601926312506747, + 1.1490841058807388 + ], + "object_minus_gripper": [ + 0.005175074283439385, + 0.004892083266144098, + 0.00686739896358457 + ], + "object_to_gripper_xy": 0.007121367321098019, + "object_to_gripper_z": 0.00686739896358457, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32867567799186453, + 0.3407191800770276, + 1.1559515048443234 + ], + "finger_b": [ + 0.317901959014553, + 0.3650847145168188, + 1.1559515048443234 + ], + "finger_midpoint": [ + 0.3232888185032088, + 0.3529019472969232, + 1.1559515048443234 + ], + "object_minus_finger_midpoint": [ + 0.005386859488655749, + 0.012182767219895585, + 0.0 + ], + "finger_gap": 0.026641176571967178, + "fingertip_max_gap": 0.09062710597292359, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013320588285983577, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1559515048443234, + "object_top_z": 1.2015783287907573, + "finger_top_clearance": 0.045626823946433914, + "fingertip_min_top_clearance": 0.013688047183930208, + "object_projection_between_fingers": 0.8364598150955808, + "object_to_finger_line_xy": 0.00985344697810894, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047813552986461796, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6087251351019887, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32905584273157623, + -0.355165508959641, + 0.8470198370869264 + ], + "target_position": [ + 0.3207042364881026, + -0.3573172498806398, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008624344371436513, + "xy_threshold": 0.08, + "gripper_dist": 0.18492537708464885, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198370869264, + "min_z": 0.5730800627579278, + "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": 0.07561039008125318, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08574683566512308, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1531390612746108, + "release_required_pad_clearance": 0.05287341783256154, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7883222521613087, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008461952209472656, + "max_z_decrease": 0.008461952209472656, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035039582189148606, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008461952209472656, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020905980892232834, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008461952209472656, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008462082836348117, + "max_button_displacement": 0.12, + "button_start": [ + 0.17640416324138639, + -0.41357871890068054, + 0.7768088579177856 + ], + "button_final": [ + 0.17640416324138639, + -0.41357871890068054, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17620933110725928, + -0.4117565713685586, + 0.8033396920310918 + ], + "closest_button": [ + 0.17644269764423365, + -0.41355177760124207, + 0.768346905708313 + ], + "closest_ee_minus_button": [ + -0.0002333665369743665, + 0.0017952062326834772, + 0.0349927863227788 + ], + "button_min_z_position": [ + 0.17644269764423365, + -0.41355177760124207, + 0.768346905708313 + ], + "min_active_finger_to_button": 0.1451343635263608, + "closest_active_finger": [ + 0.05042043328285217, + -0.4769827127456665, + 0.810340404510498 + ], + "closest_active_finger_button": [ + 0.1764052659273147, + -0.4135825037956238, + 0.7761027216911316 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12598483264446253, + -0.06340020895004272, + 0.034237682819366455 + ], + "min_contact_pad_to_button": 0.020905980892232834, + "closest_contact_pad": [ + 0.17644269764423365, + -0.41355177760124207, + 0.7892528866005458 + ], + "closest_contact_pad_button": [ + 0.17644269764423365, + -0.41355177760124207, + 0.768346905708313 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020905980892232834 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "48a1997f2d3f92bd8549df7810f123f43141aa8e03594453a38a7d92c1503bcf", + "visual_seed": 503966629096273072, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3108a282087b55598e8e3715ac256fb4e7c508e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_65_success.json @@ -0,0 +1,700 @@ +{ + "episode": 65, + "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": [ + 0.3246263836359833, + 0.3613703867620349, + 1.1565513282094801 + ], + "current_z": 1.1565513282094801, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.29996488040555935, + "gripper_z": 1.1497641265325382, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31961423731774585, + 0.3562929442191721, + 1.1497641265325382 + ], + "object_minus_gripper": [ + 0.0050121463182374315, + 0.005077442542862798, + 0.006787201676941912 + ], + "object_to_gripper_xy": 0.007134566103940314, + "object_to_gripper_z": 0.006787201676941912, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3246263836359833, + 0.3373078648879166, + 1.1565513282094801 + ], + "finger_b": [ + 0.31331291213320384, + 0.3613703867620349, + 1.1565513282094801 + ], + "finger_midpoint": [ + 0.3189696478845936, + 0.3493391258249757, + 1.1565513282094801 + ], + "object_minus_finger_midpoint": [ + 0.0056567357513896965, + 0.012031260937059196, + 0.0 + ], + "finger_gap": 0.02658946401089398, + "fingertip_max_gap": 0.09073157721791877, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013294732005447002, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1565513282094801, + "object_top_z": 1.2023369119793959, + "finger_top_clearance": 0.045785583769915705, + "fingertip_min_top_clearance": 0.013735675130974744, + "object_projection_between_fingers": 0.8189608054964035, + "object_to_finger_line_xy": 0.010238290452049294, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786578860895939, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8916574735077244, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 389, + "max_stable_success_frames": 389, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3339848262487557, + -0.35467411972990465, + 0.8470196440720237 + ], + "target_position": [ + 0.3266424677330023, + -0.35632564743314143, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007525807088174312, + "xy_threshold": 0.08, + "gripper_dist": 0.18640259450906912, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196440720237, + "min_z": 0.5730800627579278, + "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": 0.07518258554833689, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557790900926686, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15552978790575825, + "release_required_pad_clearance": 0.05278895450463343, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6255733230373894, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008479118347167969, + "max_z_decrease": 0.008479118347167969, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502393823206043, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008479118347167969, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02122850901382233, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008479118347167969, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008479167650347173, + "max_button_displacement": 0.12, + "button_start": [ + 0.1823423951864242, + -0.4125871062278747, + 0.7768088579177856 + ], + "button_final": [ + 0.1823423951864242, + -0.4125871062278747, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18283785663368252, + -0.41395123616221136, + 0.8033224366042366 + ], + "closest_button": [ + 0.1823409348726272, + -0.412558227777481, + 0.7683297395706177 + ], + "closest_ee_minus_button": [ + 0.0004969217610553134, + -0.001393008384730332, + 0.03499269703361896 + ], + "button_min_z_position": [ + 0.1823409348726272, + -0.412558227777481, + 0.7683297395706177 + ], + "min_active_finger_to_button": 0.1452490054735298, + "closest_active_finger": [ + 0.04205480217933655, + -0.3980993628501892, + 0.8075966238975525 + ], + "closest_active_finger_button": [ + 0.18235251307487482, + -0.4125925302505492, + 0.772901177406311 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14029771089553827, + 0.014493167400359996, + 0.034695446491241455 + ], + "min_contact_pad_to_button": 0.02122850901382233, + "closest_contact_pad": [ + 0.1823409348726272, + -0.4151103230785525, + 0.7894042835638856 + ], + "closest_contact_pad_button": [ + 0.1823409348726272, + -0.412558227777481, + 0.7683297395706177 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025520953010714775, + 0.021074543993267913 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a7f8cf7f17b349efeaf8decef4e78b4b00228ef58a762a950476273d743276cd", + "visual_seed": 1722627515302820003, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25691aa498865d336ea3afd8a34103e8e3444f37 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_66_success.json @@ -0,0 +1,700 @@ +{ + "episode": 66, + "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": [ + 0.3245961293784325, + 0.3653524776547992, + 1.1570755848167202 + ], + "current_z": 1.1570755848167202, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3004890178035099, + "gripper_z": 1.1502463556998355, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3194844939481968, + 0.3602658967236388, + 1.1502463556998355 + ], + "object_minus_gripper": [ + 0.005111635430235739, + 0.005086580931160434, + 0.006829229116884772 + ], + "object_to_gripper_xy": 0.007211249707289733, + "object_to_gripper_z": 0.006829229116884772, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3245961293784325, + 0.3411709302042795, + 1.1570755848167202 + ], + "finger_b": [ + 0.31334601714143356, + 0.3653524776547992, + 1.1570755848167202 + ], + "finger_midpoint": [ + 0.318971073259933, + 0.3532617039295394, + 1.1570755848167202 + ], + "object_minus_finger_midpoint": [ + 0.005625056118499505, + 0.012090773725259851, + 0.0 + ], + "finger_gap": 0.026670437987532367, + "fingertip_max_gap": 0.09075689754088198, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013335218993766195, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1570755848167202, + "object_top_z": 1.2027953142859233, + "finger_top_clearance": 0.04571972946920311, + "fingertip_min_top_clearance": 0.013715918840760932, + "object_projection_between_fingers": 0.8220682644922941, + "object_to_finger_line_xy": 0.010200249542577275, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04787844877044099, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7289914974490986, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.334010435223389, + -0.35627764742039325, + 0.8470194540614115 + ], + "target_position": [ + 0.32606644452219524, + -0.35822806265753454, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00817992101782934, + "xy_threshold": 0.08, + "gripper_dist": 0.18677049002066937, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194540614115, + "min_z": 0.5730800627579278, + "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": 0.07525237560160303, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08613974807625661, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15590980195393245, + "release_required_pad_clearance": 0.05306987403812831, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1690058459518224, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008364558219909668, + "max_z_decrease": 0.008364558219909668, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504660499195526, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008364558219909668, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021218270716091503, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008364558219909668, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008364590554660309, + "max_button_displacement": 0.12, + "button_start": [ + 0.18176637589931485, + -0.4144895076751709, + 0.7768088579177856 + ], + "button_final": [ + 0.18176637589931485, + -0.4144895076751709, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1830061782162196, + -0.41302115088058117, + 0.8034383711144878 + ], + "closest_button": [ + 0.18175122141838074, + -0.4144718647003174, + 0.768444299697876 + ], + "closest_ee_minus_button": [ + 0.001254956797838852, + 0.0014507138197362157, + 0.034994071416611816 + ], + "button_min_z_position": [ + 0.18175122141838074, + -0.4144718647003174, + 0.768444299697876 + ], + "min_active_finger_to_button": 0.14429329766083016, + "closest_active_finger": [ + 0.05516859143972397, + -0.4742351770401001, + 0.8079954981803894 + ], + "closest_active_finger_button": [ + 0.18177935481071472, + -0.41449323296546936, + 0.7730502486228943 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12661076337099075, + -0.05974194407463074, + 0.03494524955749512 + ], + "min_contact_pad_to_button": 0.021218270716091503, + "closest_contact_pad": [ + 0.18175122141838074, + -0.4144718647003174, + 0.7896625704139675 + ], + "closest_contact_pad_button": [ + 0.18175122141838074, + -0.4144718647003174, + 0.768444299697876 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021218270716091503 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eb3bb082d9b2fc100521a01ca90e922dcfc5624702d17ecc749f9f34e21b1b4f", + "visual_seed": 2151804928803636713, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8152a249de26746fd30f37d2f740163717224369 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_67_success.json @@ -0,0 +1,700 @@ +{ + "episode": 67, + "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": [ + 0.3210026172600879, + 0.3612850654744925, + 1.1560579683418883 + ], + "current_z": 1.1560579683418883, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.29947152053796755, + "gripper_z": 1.149270112671394, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3158133177958198, + 0.3562013957386925, + 1.149270112671394 + ], + "object_minus_gripper": [ + 0.0051892994642681045, + 0.005083669735800045, + 0.006787855670494336 + ], + "object_to_gripper_xy": 0.007264470174248259, + "object_to_gripper_z": 0.006787855670494336, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3210026172600879, + 0.337048065469467, + 1.1560579683418883 + ], + "finger_b": [ + 0.30976551065965596, + 0.3612850654744925, + 1.1560579683418883 + ], + "finger_midpoint": [ + 0.31538406395987195, + 0.3491665654719798, + 1.1560579683418883 + ], + "object_minus_finger_midpoint": [ + 0.005618553300215934, + 0.012118500002512744, + 0.0 + ], + "finger_gap": 0.02671525283415972, + "fingertip_max_gap": 0.09070164382359477, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013357626417079823, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1560579683418883, + "object_top_z": 1.201757165945184, + "finger_top_clearance": 0.04569919760329566, + "fingertip_min_top_clearance": 0.013709759280988665, + "object_projection_between_fingers": 0.8230745030329374, + "object_to_finger_line_xy": 0.01019469119090249, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785082191179739, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6978397270256703, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3351277582463727, + -0.35585511835996453, + 0.8470193302174437 + ], + "target_position": [ + 0.32757224813577657, + -0.35767137871881416, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007770748659070691, + "xy_threshold": 0.08, + "gripper_dist": 0.18732119091307967, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193302174437, + "min_z": 0.5730800627579278, + "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": 0.07544643415712986, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513310627202035, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15588833525563436, + "release_required_pad_clearance": 0.05256655313601018, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.19782050157315714, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00840616226196289, + "max_z_decrease": 0.00840616226196289, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500164882689199, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00840616226196289, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021178780927093032, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00840616226196289, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008406181969801066, + "max_button_displacement": 0.12, + "button_start": [ + 0.18327216804027552, + -0.41393283009529114, + 0.7768088579177856 + ], + "button_final": [ + 0.18327216804027552, + -0.41393283009529114, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18224528696458858, + -0.414081813634119, + 0.8040577977951903 + ], + "closest_button": [ + 0.18325349688529963, + -0.4139344394207, + 0.7690709829330444 + ], + "closest_ee_minus_button": [ + -0.001008209920711045, + -0.0001473742134189826, + 0.03498681486214583 + ], + "button_min_z_position": [ + 0.1832683235406875, + -0.4139150381088257, + 0.7684026956558228 + ], + "min_active_finger_to_button": 0.14695227772065148, + "closest_active_finger": [ + 0.04156539589166641, + -0.39675140380859375, + 0.8078525066375732 + ], + "closest_active_finger_button": [ + 0.1832851469516754, + -0.4139376580715179, + 0.7729939818382263 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14171975106000897, + 0.01718625426292414, + 0.034858524799346924 + ], + "min_contact_pad_to_button": 0.021178780927093032, + "closest_contact_pad": [ + 0.1832683235406875, + -0.41533144419933493, + 0.7895340599124099 + ], + "closest_contact_pad_button": [ + 0.1832683235406875, + -0.4139150381088257, + 0.7684026956558228 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001416406090509248, + 0.021131364256587126 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "66be0531ef18cbb3b218fed85326ab706a5b2b6a43ad28ff7d9edff5ae27e374", + "visual_seed": 1445775349424097263, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..06ddf7d0d72012728d7a41a7bba54ec2b1378482 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_68_success.json @@ -0,0 +1,700 @@ +{ + "episode": 68, + "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": [ + 0.326754897083098, + 0.36080784682107886, + 1.1569524505390634 + ], + "current_z": 1.1569524505390634, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.30036606233978724, + "gripper_z": 1.1501176840335923, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3215779500102466, + 0.35588656926821627, + 1.1501176840335923 + ], + "object_minus_gripper": [ + 0.005176947072851434, + 0.004921277552862591, + 0.0068347665054711015 + ], + "object_to_gripper_xy": 0.007142811333600675, + "object_to_gripper_z": 0.0068347665054711015, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.326754897083098, + 0.33639979688712907, + 1.1569524505390634 + ], + "finger_b": [ + 0.31598131111745204, + 0.36080784682107886, + 1.1569524505390634 + ], + "finger_midpoint": [ + 0.32136810410027505, + 0.348603821854104, + 1.1569524505390634 + ], + "object_minus_finger_midpoint": [ + 0.005386792982822963, + 0.012204024966974869, + 0.0 + ], + "finger_gap": 0.026680012296424277, + "fingertip_max_gap": 0.09069503826436245, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013340006148212102, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1569524505390634, + "object_top_z": 1.2026472234928969, + "finger_top_clearance": 0.04569477295383351, + "fingertip_min_top_clearance": 0.013708431886150051, + "object_projection_between_fingers": 0.836939596774219, + "object_to_finger_line_xy": 0.009856150787922636, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04784751913218123, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7059418904312806, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3370974259373599, + -0.34906087032870775, + 0.8470190824505568 + ], + "target_position": [ + 0.3286053836836703, + -0.35155413552796977, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008850488856119793, + "xy_threshold": 0.08, + "gripper_dist": 0.18665556390877583, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470190824505568, + "min_z": 0.5730800627579278, + "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": 0.07551133505876964, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522187235816435, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15520058154030691, + "release_required_pad_clearance": 0.05261093617908218, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2825462431374909, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008387327194213867, + "max_z_decrease": 0.008387327194213867, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035038501508649844, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008387327194213867, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02124626391499005, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008387327194213867, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008387410026845541, + "max_button_displacement": 0.12, + "button_start": [ + 0.18430531024932856, + -0.4078156054019928, + 0.7768088579177856 + ], + "button_final": [ + 0.18430531024932856, + -0.4078156054019928, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18485405775234887, + -0.4094204162654939, + 0.8037818462333453 + ], + "closest_button": [ + 0.18428471684455866, + -0.4077997505664825, + 0.7687854766845703 + ], + "closest_ee_minus_button": [ + 0.0005693409077902056, + -0.0016206656990114254, + 0.03499636954877494 + ], + "button_min_z_position": [ + 0.18427288532257075, + -0.4077972173690796, + 0.7684215307235718 + ], + "min_active_finger_to_button": 0.1451733909217261, + "closest_active_finger": [ + 0.04398079216480255, + -0.3944447338581085, + 0.8076696991920471 + ], + "closest_active_finger_button": [ + 0.18431432545185084, + -0.4078225195407867, + 0.7729876041412354 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14033353328704828, + 0.013377785682678167, + 0.03468209505081177 + ], + "min_contact_pad_to_button": 0.02124626391499005, + "closest_contact_pad": [ + 0.18427288532257075, + -0.41049017606939053, + 0.7894964376933268 + ], + "closest_contact_pad_button": [ + 0.18427288532257075, + -0.4077972173690796, + 0.7684215307235718 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026929587003109434, + 0.021074906969755003 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6e0309c3e74c83023dd390161c03bd7cafaa0e522393248bfc83f5c4cb80afba", + "visual_seed": 3526068414589259676, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f1288f8ed42457a04bb875f9890fc9c2b5b5af8b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_69_success.json @@ -0,0 +1,700 @@ +{ + "episode": 69, + "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": [ + 0.32287774660661744, + 0.3647756599505631, + 1.1575617227625856 + ], + "current_z": 1.1575617227625856, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.30097515574937517, + "gripper_z": 1.1507324068044549, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3177839490348974, + 0.3595942139172576, + 1.1507324068044549 + ], + "object_minus_gripper": [ + 0.005093797571720071, + 0.0051814460333055035, + 0.006829315958130744 + ], + "object_to_gripper_xy": 0.007265958759703955, + "object_to_gripper_z": 0.006829315958130744, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32287774660661744, + 0.34074256041406487, + 1.1575617227625856 + ], + "finger_b": [ + 0.3113146529252842, + 0.3647756599505631, + 1.1575617227625856 + ], + "finger_midpoint": [ + 0.3170961997659508, + 0.352759110182314, + 1.1575617227625856 + ], + "object_minus_finger_midpoint": [ + 0.005781546840666618, + 0.012016549768249118, + 0.0 + ], + "finger_gap": 0.026670114525710616, + "fingertip_max_gap": 0.09065010471311866, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013335057262855308, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1575617227625856, + "object_top_z": 1.2032704569286272, + "finger_top_clearance": 0.0457087341660416, + "fingertip_min_top_clearance": 0.01371262024981248, + "object_projection_between_fingers": 0.8120257645191011, + "object_to_finger_line_xy": 0.010419789578535045, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782505235655933, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6712339490314057, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3342215167392661, + -0.3501121225080414, + 0.8470195340973526 + ], + "target_position": [ + 0.3258415237788718, + -0.3521117283102243, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00861526002976004, + "xy_threshold": 0.08, + "gripper_dist": 0.19023512093658648, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195340973526, + "min_z": 0.5730800627579278, + "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": 0.0751305869740409, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08685915394762915, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15952909081218417, + "release_required_pad_clearance": 0.05342957697381458, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8729812792368232, + "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": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008178651332855225, + "max_z_decrease": 0.008178651332855225, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035022467307375627, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008178651332855225, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021246307489165124, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008178651332855225, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00817867692808305, + "max_button_displacement": 0.12, + "button_start": [ + 0.18154144287109364, + -0.40837317705154413, + 0.7768088579177856 + ], + "button_final": [ + 0.18154144287109364, + -0.40837317705154413, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18264511647242962, + -0.407658292486081, + 0.803627512461359 + ], + "closest_button": [ + 0.18152225017547596, + -0.4083660840988159, + 0.7686302065849304 + ], + "closest_ee_minus_button": [ + 0.0011228662969536563, + 0.0007077916127349315, + 0.034997305876428575 + ], + "button_min_z_position": [ + 0.18152225017547596, + -0.4083660840988159, + 0.7686302065849304 + ], + "min_active_finger_to_button": 0.14470882943117952, + "closest_active_finger": [ + 0.05483061075210571, + -0.4688728451728821, + 0.8081270456314087 + ], + "closest_active_finger_button": [ + 0.18155281245708454, + -0.4083775281906128, + 0.7731635570526123 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12672220170497883, + -0.06049531698226929, + 0.03496348857879639 + ], + "min_contact_pad_to_button": 0.021246307489165124, + "closest_contact_pad": [ + 0.18152225017547596, + -0.40902101817802716, + 0.7898664172468174 + ], + "closest_contact_pad_button": [ + 0.18152225017547596, + -0.4083660840988159, + 0.7686302065849304 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006549340792112446, + 0.021236210661886967 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "085dc367c67d9578d818b94ac2d11f04b0485d695d0574b08ab1e0c3359cf9ae", + "visual_seed": 2521570891012598061, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d31d0c403d3b9ad6ff0f880ae8b7201ee071a444 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_6_success.json @@ -0,0 +1,700 @@ +{ + "episode": 6, + "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": [ + 0.3235073684571995, + 0.3559601657169834, + 1.1551805357118443 + ], + "current_z": 1.1551805357118443, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.29859396869863386, + "gripper_z": 1.1483952739206942, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3183760856420352, + 0.35087488984431453, + 1.1483952739206942 + ], + "object_minus_gripper": [ + 0.00513128281516434, + 0.005085275872668882, + 0.006785261791150132 + ], + "object_to_gripper_xy": 0.007224271176412824, + "object_to_gripper_z": 0.006785261791150132, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3235073684571995, + 0.3317333897903142, + 1.1551805357118443 + ], + "finger_b": [ + 0.31229319369711994, + 0.3559601657169834, + 1.1551805357118443 + ], + "finger_midpoint": [ + 0.31790028107715973, + 0.3438467777536488, + 1.1551805357118443 + ], + "object_minus_finger_midpoint": [ + 0.005607087380039788, + 0.01211338796333461, + 0.0 + ], + "finger_gap": 0.026696336590450852, + "fingertip_max_gap": 0.09082250801046912, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013348168295225426, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1551805357118443, + "object_top_z": 1.2009505301461219, + "finger_top_clearance": 0.04576999443427754, + "fingertip_min_top_clearance": 0.013730998330283262, + "object_projection_between_fingers": 0.823546084013521, + "object_to_finger_line_xy": 0.01017680078292605, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04791125400523456, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.801831295701977, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3310829973108595, + -0.3571183687888403, + 0.8470196962183231 + ], + "target_position": [ + 0.32289189601643237, + -0.35930645741738243, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008478317773115206, + "xy_threshold": 0.08, + "gripper_dist": 0.18705807376015784, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196962183231, + "min_z": 0.5730800627579278, + "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": 0.07567747708590661, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0852029978247658, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1549980420649883, + "release_required_pad_clearance": 0.0526014989123829, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2654075174003581, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008218824863433838, + "max_z_decrease": 0.008218824863433838, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350820451002866, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008218824863433838, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021094231652245665, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008218824863433838, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008218834056038887, + "max_button_displacement": 0.12, + "button_start": [ + 0.17859181761741633, + -0.4155679047107696, + 0.7768088579177856 + ], + "button_final": [ + 0.17859181761741633, + -0.4155679047107696, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17673356890226957, + -0.41377830538253674, + 0.8035779225719644 + ], + "closest_button": [ + 0.1785803437232971, + -0.4155634939670562, + 0.7685900330543518 + ], + "closest_ee_minus_button": [ + -0.0018467748210275192, + 0.0017851885845194815, + 0.03498788951761256 + ], + "button_min_z_position": [ + 0.1785803437232971, + -0.4155634939670562, + 0.7685900330543518 + ], + "min_active_finger_to_button": 0.14679731059548054, + "closest_active_finger": [ + 0.048947691917419434, + -0.4750630259513855, + 0.8082828521728516 + ], + "closest_active_finger_button": [ + 0.17860184609889979, + -0.4155738949775696, + 0.773637592792511 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12965415418148035, + -0.05948913097381592, + 0.034645259380340576 + ], + "min_contact_pad_to_button": 0.021094231652245665, + "closest_contact_pad": [ + 0.1785803437232971, + -0.4155634939670562, + 0.7896842647065975 + ], + "closest_contact_pad_button": [ + 0.1785803437232971, + -0.4155634939670562, + 0.7685900330543518 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021094231652245665 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ca1e286688489839539e1160bf69584ccebedaa73ca2de795f0cd9b1cc93dc18", + "visual_seed": 103609951770469776, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4d790c9013568353835b659f4adeb3448ac7b936 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_70_success.json @@ -0,0 +1,700 @@ +{ + "episode": 70, + "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": [ + 0.32290369326431095, + 0.36103954511874675, + 1.1570440299196585 + ], + "current_z": 1.1570440299196585, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30045746290644815, + "gripper_z": 1.15020499686894, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3175686016355586, + 0.3560434955881646, + 1.15020499686894 + ], + "object_minus_gripper": [ + 0.005335091628752342, + 0.004996049530582136, + 0.006839033050718424 + ], + "object_to_gripper_xy": 0.007309152727862054, + "object_to_gripper_z": 0.006839033050718424, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32290369326431095, + 0.3366010712980708, + 1.1570440299196585 + ], + "finger_b": [ + 0.31192761789251744, + 0.36103954511874675, + 1.1570440299196585 + ], + "finger_midpoint": [ + 0.3174156555784142, + 0.3488203082084088, + 1.1570440299196585 + ], + "object_minus_finger_midpoint": [ + 0.0054880376858967295, + 0.012219236910337938, + 0.0 + ], + "finger_gap": 0.026790170459538982, + "fingertip_max_gap": 0.09057095320957495, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013395085229769453, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1570440299196585, + "object_top_z": 1.2026816384576167, + "finger_top_clearance": 0.045637608537958174, + "fingertip_min_top_clearance": 0.013691282561387486, + "object_projection_between_fingers": 0.8321415504329517, + "object_to_finger_line_xy": 0.010012572746875975, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778547660478748, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5885209980965013, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3306749396143606, + -0.3507821691229505, + 0.8470186511568605 + ], + "target_position": [ + 0.32179803796119943, + -0.35327336933745745, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009219840642259235, + "xy_threshold": 0.08, + "gripper_dist": 0.18812973087178694, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470186511568605, + "min_z": 0.5730800627579278, + "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": 0.07528009333014601, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0852282166777814, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15708166782229993, + "release_required_pad_clearance": 0.0526141083388907, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.28803138891133645, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008401691913604736, + "max_z_decrease": 0.008401691913604736, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501988270968478, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008401691913604736, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020989046460044514, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008401691913604736, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008401720577930576, + "max_button_displacement": 0.12, + "button_start": [ + 0.1774979680776596, + -0.4095348417758941, + 0.7768088579177856 + ], + "button_final": [ + 0.1774979680776596, + -0.4095348417758941, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17783963544455636, + -0.40837807648628677, + 0.8034067839479727 + ], + "closest_button": [ + 0.17748695611953735, + -0.40951585769653315, + 0.7684071660041809 + ], + "closest_ee_minus_button": [ + 0.00035267932501900634, + 0.0011377812102463802, + 0.034999617943791805 + ], + "button_min_z_position": [ + 0.17748695611953735, + -0.40951585769653315, + 0.7684071660041809 + ], + "min_active_finger_to_button": 0.14502871985527643, + "closest_active_finger": [ + 0.05136040598154068, + -0.47228971123695374, + 0.8112030029296875 + ], + "closest_active_finger_button": [ + 0.17750221490859985, + -0.40953686833381653, + 0.7767987251281738 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12614180892705917, + -0.06275284290313721, + 0.03440427780151367 + ], + "min_contact_pad_to_button": 0.020989046460044514, + "closest_contact_pad": [ + 0.17748695611953735, + -0.40951585769653315, + 0.7893962124642254 + ], + "closest_contact_pad_button": [ + 0.17748695611953735, + -0.40951585769653315, + 0.7684071660041809 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020989046460044514 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c4bf1b38926f787de52507374b5cb7b0c7e3bf8a082676a41074d5ff7977221e", + "visual_seed": 5834545928811848168, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ddfa2db251c46154c1cc4bc98cbf556b7e040548 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "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": [ + 0.3289915281209472, + 0.36336324986198704, + 1.154292499417989 + ], + "current_z": 1.154292499417989, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.2977059324047786, + "gripper_z": 1.147452817624972, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3239137907146472, + 0.35824447073330135, + 1.147452817624972 + ], + "object_minus_gripper": [ + 0.005077737406299965, + 0.005118779128685691, + 0.006839681793016972 + ], + "object_to_gripper_xy": 0.007210084391711801, + "object_to_gripper_z": 0.006839681793016972, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3289915281209472, + 0.33926024719000103, + 1.154292499417989 + ], + "finger_b": [ + 0.31762461079308096, + 0.36336324986198704, + 1.154292499417989 + ], + "finger_midpoint": [ + 0.32330806945701407, + 0.351311748525994, + 1.154292499417989 + ], + "object_minus_finger_midpoint": [ + 0.005683458663933105, + 0.012051501335993031, + 0.0 + ], + "finger_gap": 0.02664885639843312, + "fingertip_max_gap": 0.09065070036281062, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013324428199216583, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.154292499417989, + "object_top_z": 1.2000002316970042, + "finger_top_clearance": 0.045707732279015145, + "fingertip_min_top_clearance": 0.013712319683704543, + "object_projection_between_fingers": 0.8180599751961769, + "object_to_finger_line_xy": 0.010280997977155685, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782535018140531, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6702774469666508, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 379, + "max_stable_success_frames": 379, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.332878263297323, + -0.35447069678214127, + 0.8470195314420351 + ], + "target_position": [ + 0.32468912301005726, + -0.3563900719117838, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008411065303087904, + "xy_threshold": 0.08, + "gripper_dist": 0.18630530378353696, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195314420351, + "min_z": 0.5730800627579278, + "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": 0.07518216470854845, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08591454827395166, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15557659575302032, + "release_required_pad_clearance": 0.05295727413697583, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9487297116750186, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008195161819458008, + "max_z_decrease": 0.008195161819458008, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504193012523754, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008195161819458008, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0209549480002994, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008195161819458008, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008195222668778769, + "max_button_displacement": 0.12, + "button_start": [ + 0.18038904666900635, + -0.41265153884887695, + 0.7768088579177856 + ], + "button_final": [ + 0.18038904666900635, + -0.41265153884887695, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17967747084683092, + -0.41088945269518073, + 0.8036044113102635 + ], + "closest_button": [ + 0.18041513860225677, + -0.4126337468624115, + 0.7686136960983276 + ], + "closest_ee_minus_button": [ + -0.0007376677554258582, + 0.0017442941672307644, + 0.03499071521193586 + ], + "button_min_z_position": [ + 0.18041513860225677, + -0.4126337468624115, + 0.7686136960983276 + ], + "min_active_finger_to_button": 0.1456551664232414, + "closest_active_finger": [ + 0.05367907136678696, + -0.47573262453079224, + 0.8109552264213562 + ], + "closest_active_finger_button": [ + 0.18039272725582123, + -0.4126542806625366, + 0.7766011953353882 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12671365588903427, + -0.06307834386825562, + 0.03435403108596802 + ], + "min_contact_pad_to_button": 0.0209549480002994, + "closest_contact_pad": [ + 0.18041513860225677, + -0.4126337468624115, + 0.789568644098627 + ], + "closest_contact_pad_button": [ + 0.18041513860225677, + -0.4126337468624115, + 0.7686136960983276 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0209549480002994 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ee33e7a1727afac1e7017d225bef6f76897bb18d269245e13bb6f40d172d0307", + "visual_seed": 1374379691273195823, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b9472797cae0521e340eacfbddea381948918cc8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "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": [ + 0.3291015319629103, + 0.3653055921168987, + 1.156954560990025 + ], + "current_z": 1.156954560990025, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.30036805358145924, + "gripper_z": 1.1501177428387446, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3239812237482048, + 0.36022213115397334, + 1.1501177428387446 + ], + "object_minus_gripper": [ + 0.0051203082147054935, + 0.00508346096292539, + 0.006836818151280344 + ], + "object_to_gripper_xy": 0.0072152014230489015, + "object_to_gripper_z": 0.006836818151280344, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3291015319629103, + 0.34116651950717075, + 1.156954560990025 + ], + "finger_b": [ + 0.3177880005198119, + 0.3653055921168987, + 1.156954560990025 + ], + "finger_midpoint": [ + 0.3234447662413611, + 0.35323605581203477, + 1.156954560990025 + ], + "object_minus_finger_midpoint": [ + 0.005656765721549217, + 0.01206953630486396, + 0.0 + ], + "finger_gap": 0.02665878504680392, + "fingertip_max_gap": 0.09055474785593723, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013329392523401935, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156954560990025, + "object_top_z": 1.2026488736088783, + "finger_top_clearance": 0.04569431261885337, + "fingertip_min_top_clearance": 0.01370829378565601, + "object_projection_between_fingers": 0.819899188112414, + "object_to_finger_line_xy": 0.01024420867259796, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777737392796862, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.732910651634195, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 386, + "max_stable_success_frames": 386, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32916641100216154, + -0.35632481291523693, + 0.8470198196776962 + ], + "target_position": [ + 0.3213967077062832, + -0.3581448435015296, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007980025102781538, + "xy_threshold": 0.08, + "gripper_dist": 0.18782930797494696, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198196776962, + "min_z": 0.5730800627579278, + "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": 0.0754895981145916, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511127273023904, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1563071250034938, + "release_required_pad_clearance": 0.05255563636511952, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.17693514014555112, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008226156234741211, + "max_z_decrease": 0.008226156234741211, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502058741119042, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008226156234741211, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02095554496754708, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008226156234741211, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008226225055906602, + "max_button_displacement": 0.12, + "button_start": [ + 0.17709663510322562, + -0.4144062995910644, + 0.7768088579177856 + ], + "button_final": [ + 0.17709663510322562, + -0.4144062995910644, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17825547334478858, + -0.4139576538459074, + 0.8036558226327751 + ], + "closest_button": [ + 0.17712174355983726, + -0.41438451409339905, + 0.7686561942100525 + ], + "closest_ee_minus_button": [ + 0.0011337297849513261, + 0.0004268602474916672, + 0.03499962842272264 + ], + "button_min_z_position": [ + 0.17712152004241935, + -0.41438364982604975, + 0.7685827016830444 + ], + "min_active_finger_to_button": 0.14460792583070034, + "closest_active_finger": [ + 0.052201300859451294, + -0.4787070155143738, + 0.8109273314476013 + ], + "closest_active_finger_button": [ + 0.17709998786449424, + -0.4144082963466644, + 0.7766134142875671 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12489868700504295, + -0.0642987191677094, + 0.03431391716003418 + ], + "min_contact_pad_to_button": 0.02095554496754708, + "closest_contact_pad": [ + 0.17712152004241935, + -0.41496456187890846, + 0.7895301933246165 + ], + "closest_contact_pad_button": [ + 0.17712152004241935, + -0.41438364982604975, + 0.7685827016830444 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005809120528587064, + 0.020947491641572058 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f7836cacfc99cf3b0af26787e1ff8bb6e91ca4ef3b4ad80860797c2451670214", + "visual_seed": 6960636002966628452, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c3a8f9fd9865d71f92e4183d1708e112dd492f5a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "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": [ + 0.32139158452576483, + 0.3645897071619847, + 1.1542424576922568 + ], + "current_z": 1.1542424576922568, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2976559502836912, + "gripper_z": 1.147465115532243, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3162582279701092, + 0.3594698223654161, + 1.147465115532243 + ], + "object_minus_gripper": [ + 0.0051333565556556104, + 0.005119884796568608, + 0.0067773421600136885 + ], + "object_to_gripper_xy": 0.007250142747396551, + "object_to_gripper_z": 0.0067773421600136885, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32139158452576483, + 0.34037024897395834, + 1.1542424576922568 + ], + "finger_b": [ + 0.3101151499208107, + 0.3645897071619847, + 1.1542424576922568 + ], + "finger_midpoint": [ + 0.31575336722328773, + 0.3524799780679715, + 1.1542424576922568 + ], + "object_minus_finger_midpoint": [ + 0.0056382173024771, + 0.0121097290940132, + 0.0 + ], + "finger_gap": 0.026715915337516768, + "fingertip_max_gap": 0.09073974975318835, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01335795766875842, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1542424576922568, + "object_top_z": 1.2000480249363419, + "finger_top_clearance": 0.04580556724408513, + "fingertip_min_top_clearance": 0.013741670173225539, + "object_projection_between_fingers": 0.8218427525067987, + "object_to_finger_line_xy": 0.010222713052289738, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786987487659418, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8028222930445, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33461174848708725, + -0.3551143574626979, + 0.8470194836404683 + ], + "target_position": [ + 0.3263048453766308, + -0.3573867146317272, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008612098837690492, + "xy_threshold": 0.08, + "gripper_dist": 0.18666909033571233, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194836404683, + "min_z": 0.5730800627579278, + "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": 0.07547843820580723, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08575198971168589, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15513096510609006, + "release_required_pad_clearance": 0.05287599485584295, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7932709848694575, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008390426635742188, + "max_z_decrease": 0.008390426635742188, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035013262421088216, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008390426635742188, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02100755635744025, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008390426635742188, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008390493363672818, + "max_button_displacement": 0.12, + "button_start": [ + 0.182004764676094, + -0.4136481583118438, + 0.7768088579177856 + ], + "button_final": [ + 0.182004764676094, + -0.4136481583118438, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1803900941760094, + -0.4142726694689898, + 0.8033873012049473 + ], + "closest_button": [ + 0.1820296943187713, + -0.41362583637237543, + 0.7684184312820435 + ], + "closest_ee_minus_button": [ + -0.0016396001427619045, + -0.000646833096614341, + 0.03496886992290382 + ], + "button_min_z_position": [ + 0.1820296943187713, + -0.41362583637237543, + 0.7684184312820435 + ], + "min_active_finger_to_button": 0.14728673458824007, + "closest_active_finger": [ + 0.039480216801166534, + -0.3998197615146637, + 0.8102595806121826 + ], + "closest_active_finger_button": [ + 0.1820081323385238, + -0.41365122795104975, + 0.7757941484451294 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14252791553735727, + 0.013831466436386053, + 0.03446543216705322 + ], + "min_contact_pad_to_button": 0.02100755635744025, + "closest_contact_pad": [ + 0.1820296943187713, + -0.4153004799369976, + 0.7893591331098834 + ], + "closest_contact_pad_button": [ + 0.1820296943187713, + -0.41362583637237543, + 0.7684184312820435 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001674643564622158, + 0.020940701827839914 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "78fbebdd55c976657f5f1935e3f592d8ddfd20adedf03426b83bb8e1676b3032", + "visual_seed": 19511442011984963, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8b7150c9fc4471632a1736188aebc2d91f58bcb5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "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": [ + 0.32626354860212, + 0.36355195215322017, + 1.1582912593015353 + ], + "current_z": 1.1582912593015353, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30170469228832497, + "gripper_z": 1.1514926338530798, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32121657678600035, + 0.3584406724486734, + 1.1514926338530798 + ], + "object_minus_gripper": [ + 0.0050469718161196275, + 0.005111279704546778, + 0.006798625448455553 + ], + "object_to_gripper_xy": 0.007183112468200512, + "object_to_gripper_z": 0.006798625448455553, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32626354860212, + 0.33949662608727854, + 1.1582912593015353 + ], + "finger_b": [ + 0.3148612821008878, + 0.36355195215322017, + 1.1582912593015353 + ], + "finger_midpoint": [ + 0.32056241535150387, + 0.35152428912024936, + 1.1582912593015353 + ], + "object_minus_finger_midpoint": [ + 0.005701133250616108, + 0.012027663032970815, + 0.0 + ], + "finger_gap": 0.02662086387598817, + "fingertip_max_gap": 0.09073590995430822, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013310431937994097, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1582912593015353, + "object_top_z": 1.2040631031403353, + "finger_top_clearance": 0.04577184383879995, + "fingertip_min_top_clearance": 0.013731553151639986, + "object_projection_between_fingers": 0.8165413956094568, + "object_to_finger_line_xy": 0.010303393603439999, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786795497715411, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8773688084472986, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 391, + "max_stable_success_frames": 391, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33435112070448775, + -0.3583525948837221, + 0.8470200201934577 + ], + "target_position": [ + 0.3273189038439466, + -0.3600444326325464, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007232868652341634, + "xy_threshold": 0.08, + "gripper_dist": 0.18622023093501897, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200201934577, + "min_z": 0.5730800627579278, + "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": 0.07590506360900827, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08590461356563482, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15373525914127473, + "release_required_pad_clearance": 0.05295230678281741, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9404443444306805, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008591055870056152, + "max_z_decrease": 0.008591055870056152, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034993546313280194, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008591055870056152, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021009582425092023, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008591055870056152, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008591176918005882, + "max_button_displacement": 0.12, + "button_start": [ + 0.18301883339881891, + -0.41630589962005615, + 0.7768088579177856 + ], + "button_final": [ + 0.18301883339881891, + -0.41630589962005615, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1832269843474236, + -0.41652509436995305, + 0.8032098594444002 + ], + "closest_button": [ + 0.18303704261779782, + -0.41626408696174616, + 0.7682178020477295 + ], + "closest_ee_minus_button": [ + 0.0001899417296257755, + -0.0002610074082068925, + 0.03499205739667066 + ], + "button_min_z_position": [ + 0.18303704261779782, + -0.41626408696174616, + 0.7682178020477295 + ], + "min_active_finger_to_button": 0.14557662651433273, + "closest_active_finger": [ + 0.04225786775350571, + -0.40258872509002686, + 0.8100883960723877 + ], + "closest_active_finger_button": [ + 0.18302294611930842, + -0.4163089692592621, + 0.7755992412567139 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1407650783658027, + 0.01372024416923523, + 0.03448915481567383 + ], + "min_contact_pad_to_button": 0.021009582425092023, + "closest_contact_pad": [ + 0.18303704261779782, + -0.41750916915480724, + 0.789190458627411 + ], + "closest_contact_pad_button": [ + 0.18303704261779782, + -0.41626408696174616, + 0.7682178020477295 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012450821930610756, + 0.020972656579681503 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c8a403dba60fd8bf4443bf232fbe94712eac30be1ff8e5ef21169f3bee9ced1d", + "visual_seed": 2112140282047829509, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..04a9f8305d349b7cb3086e26f265dc21d754925f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "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": [ + 0.32283235753455763, + 0.3639221542866057, + 1.1550167915921072 + ], + "current_z": 1.1550167915921072, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.2984301649742521, + "gripper_z": 1.1482418144049638, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31769612672495184, + 0.3588649494903165, + 1.1482418144049638 + ], + "object_minus_gripper": [ + 0.005136230809605791, + 0.005057204796289183, + 0.006774977187143483 + ], + "object_to_gripper_xy": 0.007208064045300519, + "object_to_gripper_z": 0.006774977187143483, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32283235753455763, + 0.33967476211259856, + 1.1550167915921072 + ], + "finger_b": [ + 0.31167414901962115, + 0.3639221542866057, + 1.1550167915921072 + ], + "finger_midpoint": [ + 0.3172532532770894, + 0.3517984581996021, + 1.1550167915921072 + ], + "object_minus_finger_midpoint": [ + 0.005579104257468215, + 0.012123696087003588, + 0.0 + ], + "finger_gap": 0.026691602509083315, + "fingertip_max_gap": 0.09069032974082888, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013345801254541672, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1550167915921072, + "object_top_z": 1.2008007377708823, + "finger_top_clearance": 0.045783946178775015, + "fingertip_min_top_clearance": 0.013735183853632505, + "object_projection_between_fingers": 0.8252409608232919, + "object_to_finger_line_xy": 0.010136426156089264, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047845164870414444, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9481369246151304, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 388, + "max_stable_success_frames": 388, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3304544769992102, + -0.35331338313286853, + 0.8470196484551769 + ], + "target_position": [ + 0.32203815131030855, + -0.3556064738296721, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00872311888291298, + "xy_threshold": 0.08, + "gripper_dist": 0.1880983079694378, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196484551769, + "min_z": 0.5730800627579278, + "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": 0.07553702117392, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08603610012038153, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15647817364759317, + "release_required_pad_clearance": 0.053018050060190766, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0682502765632136, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008464574813842773, + "max_z_decrease": 0.008464574813842773, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503920275980555, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008464574813842773, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02092005593673185, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008464574813842773, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00846469743043942, + "max_button_displacement": 0.12, + "button_start": [ + 0.17773807048797605, + -0.4118679463863372, + 0.7768088579177856 + ], + "button_final": [ + 0.17773807048797605, + -0.4118679463863372, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17667476586584863, + -0.41027909631323406, + 0.8036493934166282 + ], + "closest_button": [ + 0.17776463925838468, + -0.41184866428375244, + 0.7686623334884644 + ], + "closest_ee_minus_button": [ + -0.0010898733925360504, + 0.0015695679705183818, + 0.034987059928163866 + ], + "button_min_z_position": [ + 0.17777547240257263, + -0.4118419289588928, + 0.7683442831039429 + ], + "min_active_finger_to_button": 0.14604600706744733, + "closest_active_finger": [ + 0.05057567358016968, + -0.47497648000717163, + 0.8109697103500366 + ], + "closest_active_finger_button": [ + 0.17774271965026853, + -0.41186994314193726, + 0.776683509349823 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12716704607009885, + -0.06310653686523438, + 0.03428620100021362 + ], + "min_contact_pad_to_button": 0.02092005593673185, + "closest_contact_pad": [ + 0.17777547240257263, + -0.4118419289588928, + 0.7892643390406747 + ], + "closest_contact_pad_button": [ + 0.17777547240257263, + -0.4118419289588928, + 0.7683442831039429 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02092005593673185 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "17a8680327f978119c04a1c31c297986ed20016bdcb5bcb38d422094b48edae1", + "visual_seed": 3879248571881066164, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ef872c2f737cf1a7bfd3fc3eac0b41f879b373c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "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": [ + 0.3216066989999035, + 0.3657391240646147, + 1.1548106991425675 + ], + "current_z": 1.1548106991425675, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.2982243109432915, + "gripper_z": 1.1479838308971624, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3163982197813796, + 0.36072412653197555, + 1.1479838308971624 + ], + "object_minus_gripper": [ + 0.005208479218523909, + 0.0050149975326391205, + 0.006826868245405127 + ], + "object_to_gripper_xy": 0.007230384223689077, + "object_to_gripper_z": 0.006826868245405127, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3216066989999035, + 0.3413760593278697, + 1.1548106991425675 + ], + "finger_b": [ + 0.31061080381810396, + 0.3657391240646147, + 1.1548106991425675 + ], + "finger_midpoint": [ + 0.31610875140900374, + 0.3535575916962422, + 1.1548106991425675 + ], + "object_minus_finger_midpoint": [ + 0.005497947590899777, + 0.012181532368372494, + 0.0 + ], + "finger_gap": 0.026729546090720466, + "fingertip_max_gap": 0.0905507111505933, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013364773045360233, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1548106991425675, + "object_top_z": 1.2004718236301408, + "finger_top_clearance": 0.04566112448757331, + "fingertip_min_top_clearance": 0.01369833734627196, + "object_projection_between_fingers": 0.8307697426328482, + "object_to_finger_line_xy": 0.010022381421794823, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777535557529665, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6264223530269296, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33714345598264733, + -0.34898973622270796, + 0.8470201148688612 + ], + "target_position": [ + 0.3286425175232545, + -0.3513390956395898, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008819605680532172, + "xy_threshold": 0.08, + "gripper_dist": 0.18711450870453905, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470201148688612, + "min_z": 0.5730800627579278, + "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": 0.07518939998225929, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08534986557675216, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15646697194255305, + "release_required_pad_clearance": 0.05267493278837608, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.40541664422332463, + "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": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008114457130432129, + "max_z_decrease": 0.008114457130432129, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035063287666415414, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008114457130432129, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021109266949603356, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008114457130432129, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008114459698550062, + "max_button_displacement": 0.12, + "button_start": [ + 0.18434244394302368, + -0.4076005518436432, + 0.7768088579177856 + ], + "button_final": [ + 0.18434244394302368, + -0.4076005518436432, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18307857948403033, + -0.40582181361714387, + 0.8036901125935404 + ], + "closest_button": [ + 0.18434035778045652, + -0.4075944423675537, + 0.7686944007873535 + ], + "closest_ee_minus_button": [ + -0.0012617782964261803, + 0.0017726287504098437, + 0.03499571180618688 + ], + "button_min_z_position": [ + 0.18434035778045652, + -0.4075944423675537, + 0.7686944007873535 + ], + "min_active_finger_to_button": 0.14624025784055072, + "closest_active_finger": [ + 0.05624785274267197, + -0.4690425395965576, + 0.8084076642990112 + ], + "closest_active_finger_button": [ + 0.1843508034944534, + -0.4076061546802521, + 0.7737461924552917 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12810295075178144, + -0.06143638491630554, + 0.03466147184371948 + ], + "min_contact_pad_to_button": 0.021109266949603356, + "closest_contact_pad": [ + 0.18434035778045652, + -0.4075944423675537, + 0.7898036677369569 + ], + "closest_contact_pad_button": [ + 0.18434035778045652, + -0.4075944423675537, + 0.7686944007873535 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021109266949603356 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b5ae845779eb3b1231f61a0278d4229db33dbba0d36d6f59fa9998dbfa93ad49", + "visual_seed": 5576262889360079926, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3780b7f60ea4b13187a43d61f3d4cd429fb00104 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "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": [ + 0.32563044492314924, + 0.3591217199881436, + 1.1559198902376642 + ], + "current_z": 1.1559198902376642, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.2993332040151643, + "gripper_z": 1.1491148195302014, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3204828936034675, + 0.3540827159958222, + 1.1491148195302014 + ], + "object_minus_gripper": [ + 0.0051475513196817535, + 0.005039003992321378, + 0.006805070707462724 + ], + "object_to_gripper_xy": 0.007203391272406917, + "object_to_gripper_z": 0.006805070707462724, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32563044492314924, + 0.3348771473830352, + 1.1559198902376642 + ], + "finger_b": [ + 0.31448902335410245, + 0.3591217199881436, + 1.1559198902376642 + ], + "finger_midpoint": [ + 0.3200597341386259, + 0.3469994336855894, + 1.1559198902376642 + ], + "object_minus_finger_midpoint": [ + 0.005570710784523369, + 0.012122286302554186, + 0.0 + ], + "finger_gap": 0.02668202719778976, + "fingertip_max_gap": 0.09064251750239202, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013341013598894868, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1559198902376642, + "object_top_z": 1.20165537442222, + "finger_top_clearance": 0.045735484184555864, + "fingertip_min_top_clearance": 0.013720645255366792, + "object_projection_between_fingers": 0.8256413211185115, + "object_to_finger_line_xy": 0.010123631242578543, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047821258751196014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8130414656497494, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 386, + "max_stable_success_frames": 386, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3392206707489088, + -0.34819556424635656, + 0.8470204686036535 + ], + "target_position": [ + 0.3276790825108821, + -0.3518813564620834, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.012115829452153446, + "xy_threshold": 0.08, + "gripper_dist": 0.19073596803016007, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470204686036535, + "min_z": 0.5730800627579278, + "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": 0.07538103904466645, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0897915199501058, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15951471250584148, + "release_required_pad_clearance": 0.0548957599750529, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.849900000766948, + "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": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008261501789093018, + "max_z_decrease": 0.008261501789093018, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504290234566263, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008261501789093018, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0211747587120446, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008261501789093018, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008261514864554627, + "max_button_displacement": 0.12, + "button_start": [ + 0.1833790093660354, + -0.4081428050994873, + 0.7768088579177856 + ], + "button_final": [ + 0.1833790093660354, + -0.4081428050994873, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18216186075412935, + -0.4097302985552846, + 0.8036013602212682 + ], + "closest_button": [ + 0.18338032066822046, + -0.40813064575195307, + 0.7686161994934082 + ], + "closest_ee_minus_button": [ + -0.0012184599140911134, + -0.0015996528033315194, + 0.034985160727859954 + ], + "button_min_z_position": [ + 0.1833753883838653, + -0.40812855958938593, + 0.7685473561286926 + ], + "min_active_finger_to_button": 0.14686786455346346, + "closest_active_finger": [ + 0.04123436659574509, + -0.3950943350791931, + 0.8087216019630432 + ], + "closest_active_finger_button": [ + 0.1833846122026443, + -0.40814933180809015, + 0.7741811275482178 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1421502456068992, + 0.01305499672889704, + 0.03454047441482544 + ], + "min_contact_pad_to_button": 0.0211747587120446, + "closest_contact_pad": [ + 0.1833753883838653, + -0.41076742296051383, + 0.7895570397679536 + ], + "closest_contact_pad_button": [ + 0.1833753883838653, + -0.40812855958938593, + 0.7685473561286926 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026388633711278975, + 0.021009683639260923 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b029c6b6c18eb4c37006653bcb82bc386684ccbd3a2418f69bac7442b4e0aec6", + "visual_seed": 9185433130645669064, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad66ee55f63083cca70225ea93326a463c1d014d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "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": [ + 0.32303504825989177, + 0.36391510750599565, + 1.1561957840939165 + ], + "current_z": 1.1561957840939165, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.299609336289996, + "gripper_z": 1.1493868081563785, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31773481213636945, + 0.3589190188210753, + 1.1493868081563785 + ], + "object_minus_gripper": [ + 0.005300236123522317, + 0.004996088684920352, + 0.006808975937538042 + ], + "object_to_gripper_xy": 0.007283776843964953, + "object_to_gripper_z": 0.006808975937538042, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32303504825989177, + 0.33941752187345886, + 1.1561957840939165 + ], + "finger_b": [ + 0.3121596269439239, + 0.36391510750599565, + 1.1561957840939165 + ], + "finger_midpoint": [ + 0.31759733760190784, + 0.35166631468972726, + 1.1561957840939165 + ], + "object_minus_finger_midpoint": [ + 0.00543771065798393, + 0.012248792816268395, + 0.0 + ], + "finger_gap": 0.026803105988360398, + "fingertip_max_gap": 0.09058737880500053, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013401552994180199, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1561957840939165, + "object_top_z": 1.2018907999252098, + "finger_top_clearance": 0.045695015831293206, + "fingertip_min_top_clearance": 0.013708504749387994, + "object_projection_between_fingers": 0.8353650887853278, + "object_to_finger_line_xy": 0.00993995117929746, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779368940250027, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6699550697276949, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33187964906117773, + -0.35045795300411303, + 0.8470195682757824 + ], + "target_position": [ + 0.32358591010683185, + -0.3527258903706107, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008598235036400817, + "xy_threshold": 0.08, + "gripper_dist": 0.18787962998088603, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195682757824, + "min_z": 0.5730800627579278, + "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": 0.0757682889537431, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08627390896020619, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15559709735187677, + "release_required_pad_clearance": 0.053136954480103096, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2996329927021406, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008530676364898682, + "max_z_decrease": 0.008530676364898682, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035023281243718216, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008530676364898682, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02100581092224801, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008530676364898682, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008530778625614101, + "max_button_displacement": 0.12, + "button_start": [ + 0.1792858392000198, + -0.4089873433113098, + 0.7768088579177856 + ], + "button_final": [ + 0.1792858392000198, + -0.4089873433113098, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18033622270069347, + -0.4094341334390842, + 0.8036503890801608 + ], + "closest_button": [ + 0.17927098274230951, + -0.4089588224887848, + 0.7686465382575989 + ], + "closest_ee_minus_button": [ + 0.0010652399583839511, + -0.0004753109502994013, + 0.035003850822561966 + ], + "button_min_z_position": [ + 0.17925900220870966, + -0.40895533561706543, + 0.768278181552887 + ], + "min_active_finger_to_button": 0.14470968629476708, + "closest_active_finger": [ + 0.03934299945831299, + -0.3958941400051117, + 0.810462474822998 + ], + "closest_active_finger_button": [ + 0.17928968369960782, + -0.4089910387992859, + 0.7760489583015442 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13994668424129483, + 0.013096898794174194, + 0.03441351652145386 + ], + "min_contact_pad_to_button": 0.02100581092224801, + "closest_contact_pad": [ + 0.17925900220870966, + -0.41037310815781547, + 0.7892360920766947 + ], + "closest_contact_pad_button": [ + 0.17925900220870966, + -0.40895533561706543, + 0.768278181552887 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014177725407500397, + 0.020957910523807688 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9b14e1e3e0c9078f69aff9582c6cdd8a8858b58d1b29c7edc3ffcf7f25eac3db", + "visual_seed": 6627001316591437999, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9931eb35dfde34934e0869af38d051bc8b850d0c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "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": [ + 0.32595282491023286, + 0.35773515124183825, + 1.1561806674517998 + ], + "current_z": 1.1561806674517998, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2995941004385895, + "gripper_z": 1.1493879405931164, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3208236133579039, + 0.3526390793391579, + 1.1493879405931164 + ], + "object_minus_gripper": [ + 0.005129211552328983, + 0.005096071902680355, + 0.006792726858683373 + ], + "object_to_gripper_xy": 0.007230405243541559, + "object_to_gripper_z": 0.006792726858683373, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32595282491023286, + 0.33357875033297507, + 1.1561806674517998 + ], + "finger_b": [ + 0.314630239753937, + 0.35773515124183825, + 1.1561806674517998 + ], + "finger_midpoint": [ + 0.32029153233208496, + 0.34565695078740666, + 1.1561806674517998 + ], + "object_minus_finger_midpoint": [ + 0.005661292578147903, + 0.012078200454431587, + 0.0 + ], + "finger_gap": 0.026678317778512515, + "fingertip_max_gap": 0.09052053036473032, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013339158889256245, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1561806674517998, + "object_top_z": 1.2019543641509653, + "finger_top_clearance": 0.045773696699165534, + "fingertip_min_top_clearance": 0.01373210900974966, + "object_projection_between_fingers": 0.8198748694268096, + "object_to_finger_line_xy": 0.010252254607317176, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776026518236516, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8106503304348553, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 387, + "max_stable_success_frames": 387, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3319993608609559, + -0.35423191630248696, + 0.8470195796580153 + ], + "target_position": [ + 0.3242000738767419, + -0.3562702681943518, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008061250268860223, + "xy_threshold": 0.08, + "gripper_dist": 0.18707736918799536, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195796580153, + "min_z": 0.5730800627579278, + "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": 0.0755341884145521, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524179447310958, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1555599447307836, + "release_required_pad_clearance": 0.05262089723655479, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3013129545066799, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00827401876449585, + "max_z_decrease": 0.00827401876449585, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507074362003358, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00827401876449585, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021036466600132253, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00827401876449585, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008274058722367899, + "max_button_displacement": 0.12, + "button_start": [ + 0.17990000545978546, + -0.41253173351287836, + 0.7768088579177856 + ], + "button_final": [ + 0.17990000545978546, + -0.41253173351287836, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18020960431537372, + -0.4102843119159201, + 0.8035332825956906 + ], + "closest_button": [ + 0.17992070317268372, + -0.4125164747238158, + 0.7685348391532898 + ], + "closest_ee_minus_button": [ + 0.0002889011426900068, + 0.0022321628078957323, + 0.03499844344240077 + ], + "button_min_z_position": [ + 0.17992070317268372, + -0.4125164747238158, + 0.7685348391532898 + ], + "min_active_finger_to_button": 0.1446223120839762, + "closest_active_finger": [ + 0.05350284278392792, + -0.47374868392944336, + 0.8110132217407227 + ], + "closest_active_finger_button": [ + 0.1799037605524063, + -0.41253370046615595, + 0.7765002250671387 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1264009177684784, + -0.06121498346328741, + 0.034512996673583984 + ], + "min_contact_pad_to_button": 0.021036466600132253, + "closest_contact_pad": [ + 0.17992070317268372, + -0.4125164747238158, + 0.789571305753422 + ], + "closest_contact_pad_button": [ + 0.17992070317268372, + -0.4125164747238158, + 0.7685348391532898 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021036466600132253 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "14d15ac332f06803fdc0b91a794dc94f72c95aeaeb34031aa4e29ea48fd0a62c", + "visual_seed": 1709828275839449920, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3df2bff06dad703b37d9cafad6228950f129db89 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "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": [ + 0.32509482073849016, + 0.35873363630771943, + 1.1552020173397548 + ], + "current_z": 1.1552020173397548, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29861545032654446, + "gripper_z": 1.1483808682853573, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31992024399525953, + 0.3535872950070358, + 1.1483808682853573 + ], + "object_minus_gripper": [ + 0.00517457674323063, + 0.005146341300683643, + 0.006821149054397457 + ], + "object_to_gripper_xy": 0.007298018447133819, + "object_to_gripper_z": 0.006821149054397457, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32509482073849016, + 0.3345429129843888, + 1.1552020173397548 + ], + "finger_b": [ + 0.31371357710276726, + 0.35873363630771943, + 1.1552020173397548 + ], + "finger_midpoint": [ + 0.3194041989206287, + 0.3466382746460541, + 1.1552020173397548 + ], + "object_minus_finger_midpoint": [ + 0.005690621817861452, + 0.012095361661665305, + 0.0 + ], + "finger_gap": 0.026734318798159316, + "fingertip_max_gap": 0.0907069979724636, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013367159399079658, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1552020173397548, + "object_top_z": 1.200906407739871, + "finger_top_clearance": 0.0457043904001162, + "fingertip_min_top_clearance": 0.013711317120034826, + "object_projection_between_fingers": 0.8187653658582307, + "object_to_finger_line_xy": 0.010298392786658374, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478534989862318, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6952318971076005, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3303676024136306, + -0.3558367891908445, + 0.8470196255193718 + ], + "target_position": [ + 0.32260151371658025, + -0.3577063826062253, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007987960515005608, + "xy_threshold": 0.08, + "gripper_dist": 0.1872972832073948, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196255193718, + "min_z": 0.5730800627579278, + "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": 0.07588424428566616, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595390130556756, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1549223125116513, + "release_required_pad_clearance": 0.05297695065278378, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9875359795668917, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008191168308258057, + "max_z_decrease": 0.008191168308258057, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501023334114442, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008191168308258057, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02095793556334269, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008191168308258057, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008191226908308329, + "max_button_displacement": 0.12, + "button_start": [ + 0.17830143868923187, + -0.41396784782409657, + 0.7768088579177856 + ], + "button_final": [ + 0.17830143868923187, + -0.41396784782409657, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17804107113203793, + -0.41288450350020256, + 0.8036105753307804 + ], + "closest_button": [ + 0.17832604050636292, + -0.41394901275634755, + 0.7686176896095276 + ], + "closest_ee_minus_button": [ + -0.0002849693743249837, + 0.0010645092561449854, + 0.03499288572125281 + ], + "button_min_z_position": [ + 0.17832604050636292, + -0.41394901275634755, + 0.7686176896095276 + ], + "min_active_finger_to_button": 0.14555588564926872, + "closest_active_finger": [ + 0.051737911999225616, + -0.477117657661438, + 0.8109643459320068 + ], + "closest_active_finger_button": [ + 0.17830486595630646, + -0.4139706194400787, + 0.7766165137290955 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12656695395708084, + -0.06314703822135931, + 0.03434783220291138 + ], + "min_contact_pad_to_button": 0.02095793556334269, + "closest_contact_pad": [ + 0.17832604050636292, + -0.41394901275634755, + 0.7895756251728703 + ], + "closest_contact_pad_button": [ + 0.17832604050636292, + -0.41394901275634755, + 0.7686176896095276 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02095793556334269 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0451189211c814cfa2038e3eede1972947bcaab03a7599901771f2145626071c", + "visual_seed": 3422537903615689203, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3478a4fde1baeaa55fddb48ab3c22e7e6fffa226 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "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": [ + 0.3206500361621497, + 0.3654936454963459, + 1.1552002574883036 + ], + "current_z": 1.1552002574883036, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29861369047509323, + "gripper_z": 1.1483746750543506, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31538312153315434, + 0.3604683611762934, + 1.1483746750543506 + ], + "object_minus_gripper": [ + 0.005266914628995367, + 0.005025284320052503, + 0.006825582433952926 + ], + "object_to_gripper_xy": 0.007279689018528948, + "object_to_gripper_z": 0.006825582433952926, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3206500361621497, + 0.34110220376112593, + 1.1552002574883036 + ], + "finger_b": [ + 0.3096226910660822, + 0.3654936454963459, + 1.1552002574883036 + ], + "finger_midpoint": [ + 0.31513636361411596, + 0.3532979246287359, + 1.1552002574883036 + ], + "object_minus_finger_midpoint": [ + 0.0055136725480337545, + 0.012195720867610005, + 0.0 + ], + "finger_gap": 0.026768353886453197, + "fingertip_max_gap": 0.09067159246746545, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013384176943226623, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1552002574883036, + "object_top_z": 1.2008804862979954, + "finger_top_clearance": 0.0456802288096918, + "fingertip_min_top_clearance": 0.013704068642907507, + "object_projection_between_fingers": 0.830293451303349, + "object_to_finger_line_xy": 0.010048165327828202, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783579623373273, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6721679166565866, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32764747026201346, + -0.35058107106817826, + 0.8470197247789664 + ], + "target_position": [ + 0.31912187497285344, + -0.3527411128814916, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008794973318311415, + "xy_threshold": 0.08, + "gripper_dist": 0.1882310575739119, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197247789664, + "min_z": 0.5730800627579278, + "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": 0.07553551858663907, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496717324812113, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1563936730588127, + "release_required_pad_clearance": 0.052483586624060566, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03954678912127905, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008250176906585693, + "max_z_decrease": 0.008250176906585693, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499291188697138, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008250176906585693, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021016502453233273, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008250176906585693, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008250230258644731, + "max_button_displacement": 0.12, + "button_start": [ + 0.1748217940330506, + -0.40900257229804987, + 0.7768088579177856 + ], + "button_final": [ + 0.1748217940330506, + -0.40900257229804987, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17415801627542565, + -0.40943698433411824, + 0.8036092897557786 + ], + "closest_button": [ + 0.17484366893768313, + -0.4089881777763366, + 0.7686259746551514 + ], + "closest_ee_minus_button": [ + -0.0006856526622574799, + -0.0004488065577816225, + 0.034983315100627244 + ], + "button_min_z_position": [ + 0.1748463660478592, + -0.40898594260215754, + 0.7685586810112 + ], + "min_active_finger_to_button": 0.14639108436390846, + "closest_active_finger": [ + 0.033366985619068146, + -0.39369237422943115, + 0.8101221323013306 + ], + "closest_active_finger_button": [ + 0.17482572793960574, + -0.40900546312332153, + 0.7756941914558411 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1414587423205376, + 0.01531308889389038, + 0.0344279408454895 + ], + "min_contact_pad_to_button": 0.021016502453233273, + "closest_contact_pad": [ + 0.1748463660478592, + -0.41057824192761866, + 0.7895147769793162 + ], + "closest_contact_pad_button": [ + 0.1748463660478592, + -0.40898594260215754, + 0.7685586810112 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015922993254611217, + 0.020956095968116206 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cd3a500f415e045d3f37a0f811646aaf8edbcf0c82c06c8f68009f20e5db8594", + "visual_seed": 40779115629364149, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f67dd3c2be878b90561b9f903c84f01c9eca329b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "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": [ + 0.32333253809323664, + 0.3660652296407734, + 1.1543109680527113 + ], + "current_z": 1.1543109680527113, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.2977245202487905, + "gripper_z": 1.147493202996542, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3180498500576775, + 0.3610627094908592, + 1.147493202996542 + ], + "object_minus_gripper": [ + 0.005282688035559147, + 0.0050025201499142025, + 0.006817765056169378 + ], + "object_to_gripper_xy": 0.007275438181397555, + "object_to_gripper_z": 0.006817765056169378, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32333253809323664, + 0.34171193251476745, + 1.1543109680527113 + ], + "finger_b": [ + 0.312272683956155, + 0.3660652296407734, + 1.1543109680527113 + ], + "finger_midpoint": [ + 0.3178026110246958, + 0.35388858107777044, + 1.1543109680527113 + ], + "object_minus_finger_midpoint": [ + 0.00552992706854083, + 0.01217664856300299, + 0.0 + ], + "finger_gap": 0.026747027020606485, + "fingertip_max_gap": 0.09055404925864904, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013373513510303242, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1543109680527113, + "object_top_z": 1.1999999613762977, + "finger_top_clearance": 0.045688993323586446, + "fingertip_min_top_clearance": 0.0137066979970759, + "object_projection_between_fingers": 0.8290190342607564, + "object_to_finger_line_xy": 0.01007005054293057, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047777024629324524, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6916679497026534, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33625239903364346, + -0.35542997053262965, + 0.8470194220629963 + ], + "target_position": [ + 0.3277083407060617, + -0.3580066407467012, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008924133688891191, + "xy_threshold": 0.08, + "gripper_dist": 0.1860129971271277, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194220629963, + "min_z": 0.5730800627579278, + "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": 0.07578852315891876, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522715385777234, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15386389530412098, + "release_required_pad_clearance": 0.05261357692888617, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.28803414879517436, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008409738540649414, + "max_z_decrease": 0.008409738540649414, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503153849248395, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008409738540649414, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021064551861846595, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008409738540649414, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008409762779200022, + "max_button_displacement": 0.12, + "button_start": [ + 0.1834082603454589, + -0.41426810622215265, + 0.7768088579177856 + ], + "button_final": [ + 0.1834082603454589, + -0.41426810622215265, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18184651855555262, + -0.41315890121924337, + 0.8033784831099459 + ], + "closest_button": [ + 0.18341605365276328, + -0.4142494797706603, + 0.7683991193771362 + ], + "closest_ee_minus_button": [ + -0.001569535097210667, + 0.0010905785514169208, + 0.03497936373280963 + ], + "button_min_z_position": [ + 0.18341605365276328, + -0.4142494797706603, + 0.7683991193771362 + ], + "min_active_finger_to_button": 0.14679459985816434, + "closest_active_finger": [ + 0.05481082946062088, + -0.4760010242462158, + 0.8098142147064209 + ], + "closest_active_finger_button": [ + 0.18341410160064692, + -0.4142709374427795, + 0.7751840353012085 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12860327214002604, + -0.061730086803436335, + 0.0346301794052124 + ], + "min_contact_pad_to_button": 0.021064551861846595, + "closest_contact_pad": [ + 0.18341605365276328, + -0.4143537967443556, + 0.7894634129354169 + ], + "closest_contact_pad_button": [ + 0.18341605365276328, + -0.4142494797706603, + 0.7683991193771362 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00010431697369528425, + 0.021064293558280656 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ba7a8237da632bdb409746dc29650fc5c6375ed0c9457a926dd5c02dd4f1c2b", + "visual_seed": 5613854604923051093, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..012e68c83b994c616a920b40b29e91a1db23e1ca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "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": [ + 0.32477262350747726, + 0.3664197321866, + 1.1556158584787088 + ], + "current_z": 1.1556158584787088, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2990292914654985, + "gripper_z": 1.1488038659894717, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31972439824380067, + 0.36129418811632286, + 1.1488038659894717 + ], + "object_minus_gripper": [ + 0.005048225263676598, + 0.005125544070277155, + 0.00681199248923714 + ], + "object_to_gripper_xy": 0.007194149034401217, + "object_to_gripper_z": 0.00681199248923714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32477262350747726, + 0.34234080984703796, + 1.1556158584787088 + ], + "finger_b": [ + 0.3133872338975301, + 0.3664197321866, + 1.1556158584787088 + ], + "finger_midpoint": [ + 0.3190799287025037, + 0.354380271016819, + 1.1556158584787088 + ], + "object_minus_finger_midpoint": [ + 0.005692694804973586, + 0.012039461169780996, + 0.0 + ], + "finger_gap": 0.026634969450047306, + "fingertip_max_gap": 0.09078994228274909, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013317484725023627, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1556158584787088, + "object_top_z": 1.2013589197145356, + "finger_top_clearance": 0.04574306123582672, + "fingertip_min_top_clearance": 0.013722918370748016, + "object_projection_between_fingers": 0.8172777696535865, + "object_to_finger_line_xy": 0.010292781177681704, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047894971141374545, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7677991060161434, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32913806459114864, + -0.35825290244773184, + 0.8470195631732871 + ], + "target_position": [ + 0.32103506403121107, + -0.36009644177271066, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008310069513373033, + "xy_threshold": 0.08, + "gripper_dist": 0.18841323258585163, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195631732871, + "min_z": 0.5730800627579278, + "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": 0.07531620785529797, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08635737812663656, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15713487838950657, + "release_required_pad_clearance": 0.05317868906331828, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3808100726700225, + "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": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008212566375732422, + "max_z_decrease": 0.008212566375732422, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034962373342351506, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008212566375732422, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021074967717659942, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008212566375732422, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0082126991795923, + "max_button_displacement": 0.12, + "button_start": [ + 0.176734983921051, + -0.4163579046726227, + 0.7768088579177856 + ], + "button_final": [ + 0.176734983921051, + -0.4163579046726227, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17503984675504897, + -0.4178291644258482, + 0.8034836195856798 + ], + "closest_button": [ + 0.17677730321884152, + -0.41633814573287964, + 0.7685962915420532 + ], + "closest_ee_minus_button": [ + -0.0017374564637925582, + -0.001491018692968582, + 0.0348873280436266 + ], + "button_min_z_position": [ + 0.17677730321884152, + -0.41633814573287964, + 0.7685962915420532 + ], + "min_active_finger_to_button": 0.14730904370161965, + "closest_active_finger": [ + 0.03436766564846039, + -0.40097397565841675, + 0.8075665235519409 + ], + "closest_active_finger_button": [ + 0.17674177885055542, + -0.4163670241832733, + 0.7730321884155273 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14237411320209503, + 0.015393048524856567, + 0.034534335136413574 + ], + "min_contact_pad_to_button": 0.021074967717659942, + "closest_contact_pad": [ + 0.17677730321884152, + -0.41907173894073235, + 0.7894932227156584 + ], + "closest_contact_pad_button": [ + 0.17677730321884152, + -0.41633814573287964, + 0.7685962915420532 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027335932078527136, + 0.020896931173605138 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "33c7c070888d792b6bb547656a903fe4d8c06075bcad6fafc541e37724ba7de6", + "visual_seed": 2610467079603070911, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..63f9214cffcdb9d3c0442713123822960a140668 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "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": [ + 0.32158134104703556, + 0.3662794989342963, + 1.1544019377458496 + ], + "current_z": 1.1544019377458496, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2978153707326393, + "gripper_z": 1.14757698832477, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31645025544083527, + 0.3611255866041136, + 1.14757698832477 + ], + "object_minus_gripper": [ + 0.005131085606200292, + 0.005153912330182697, + 0.006824949421079696 + ], + "object_to_gripper_xy": 0.007272609697032081, + "object_to_gripper_z": 0.006824949421079696, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32158134104703556, + 0.3421622229619339, + 1.1544019377458496 + ], + "finger_b": [ + 0.31013469904891794, + 0.3662794989342963, + 1.1544019377458496 + ], + "finger_midpoint": [ + 0.31585802004797675, + 0.3542208609481151, + 1.1544019377458496 + ], + "object_minus_finger_midpoint": [ + 0.005723320999058812, + 0.012058637986181175, + 0.0 + ], + "finger_gap": 0.026695853860855608, + "fingertip_max_gap": 0.09065234036242217, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01334792693042778, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1544019377458496, + "object_top_z": 1.2000899282865172, + "finger_top_clearance": 0.04568799054066752, + "fingertip_min_top_clearance": 0.01370639716220029, + "object_projection_between_fingers": 0.8161479114180461, + "object_to_finger_line_xy": 0.010340999971918072, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782617018121109, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6746582944761131, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3305548103732185, + -0.3513268530788319, + 0.8470197727981252 + ], + "target_position": [ + 0.322551075310291, + -0.35324643935258576, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008230709958437334, + "xy_threshold": 0.08, + "gripper_dist": 0.1866542244713902, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197727981252, + "min_z": 0.5730800627579278, + "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": 0.07576061675783119, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506838194952025, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15443005856914158, + "release_required_pad_clearance": 0.05253419097476013, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.13705539305653358, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008464515209197998, + "max_z_decrease": 0.008464515209197998, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501192776737116, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008464515209197998, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020974600242370068, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008464515209197998, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008464568825824475, + "max_button_displacement": 0.12, + "button_start": [ + 0.1782509982585907, + -0.40950790047645563, + 0.7768088579177856 + ], + "button_final": [ + 0.1782509982585907, + -0.40950790047645563, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1787503257778101, + -0.40875166732893975, + 0.8033447862419849 + ], + "closest_button": [ + 0.17823277413845062, + -0.40948390960693354, + 0.7683443427085876 + ], + "closest_ee_minus_button": [ + 0.000517551639359487, + 0.0007322422779937887, + 0.03500044353339726 + ], + "button_min_z_position": [ + 0.17823277413845062, + -0.40948390960693354, + 0.7683443427085876 + ], + "min_active_finger_to_button": 0.14505621550964654, + "closest_active_finger": [ + 0.052539631724357605, + -0.4731971025466919, + 0.8104658126831055 + ], + "closest_active_finger_button": [ + 0.1782546490430832, + -0.40951174497604365, + 0.7760969996452332 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12571501731872559, + -0.06368535757064825, + 0.034368813037872314 + ], + "min_contact_pad_to_button": 0.020974600242370068, + "closest_contact_pad": [ + 0.17823277413845062, + -0.4097814140108335, + 0.7893168329388128 + ], + "closest_contact_pad_button": [ + 0.17823277413845062, + -0.40948390960693354, + 0.7683443427085876 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000297504403899973, + 0.020972490230225183 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "827f7bcf8af4d1d6c72cc76f58ba36d3b38f7f4c73c0a6f29acb84349bb16e87", + "visual_seed": 1172673015925197759, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2360e5cc8b84d31d7cb082b79fc4aec6aedade4f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "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": [ + 0.32456603606335327, + 0.3593445225238044, + 1.1556121764424023 + ], + "current_z": 1.1556121764424023, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.29902572863848154, + "gripper_z": 1.1487967429467842, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3193880668417829, + 0.35431054390274663, + 1.1487967429467842 + ], + "object_minus_gripper": [ + 0.005177969221570378, + 0.005033978621057755, + 0.006815433495618084 + ], + "object_to_gripper_xy": 0.0072216553515656425, + "object_to_gripper_z": 0.006815433495618084, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32456603606335327, + 0.3350785335341907, + 1.1556121764424023 + ], + "finger_b": [ + 0.3134343230654454, + 0.3593445225238044, + 1.1556121764424023 + ], + "finger_midpoint": [ + 0.3190001795643993, + 0.3472115280289976, + 1.1556121764424023 + ], + "object_minus_finger_midpoint": [ + 0.005565856498953969, + 0.012132994494806815, + 0.0 + ], + "finger_gap": 0.026697439126475108, + "fingertip_max_gap": 0.09066812437032021, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013348719563237538, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1556121764424023, + "object_top_z": 1.2013234871051863, + "finger_top_clearance": 0.045711310662784, + "fingertip_min_top_clearance": 0.013713393198835232, + "object_projection_between_fingers": 0.826145958310266, + "object_to_finger_line_xy": 0.010117900213691279, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047834062185160106, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8191059866699505, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 384, + "max_stable_success_frames": 384, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3359416327277965, + -0.35704078243507115, + 0.8470195069488726 + ], + "target_position": [ + 0.3274528266642929, + -0.3596132782493006, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008870037378613674, + "xy_threshold": 0.08, + "gripper_dist": 0.18819463901309358, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195069488726, + "min_z": 0.5730800627579278, + "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": 0.07550085115229761, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561724624445831, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1568238609314368, + "release_required_pad_clearance": 0.052808623122229156, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6632258233072486, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008509993553161621, + "max_z_decrease": 0.008509993553161621, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035005639415814076, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008509993553161621, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021012099772072225, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008509993553161621, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008510037893339064, + "max_button_displacement": 0.12, + "button_start": [ + 0.18315275013446808, + -0.41587474942207336, + 0.7768088579177856 + ], + "button_final": [ + 0.18315275013446808, + -0.41587474942207336, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1822038271009545, + -0.4151132104734176, + 0.8032842861410697 + ], + "closest_button": [ + 0.1831341385841369, + -0.4158545434474945, + 0.768298864364624 + ], + "closest_ee_minus_button": [ + -0.0009303114831824, + 0.0007413329740769137, + 0.0349854217764457 + ], + "button_min_z_position": [ + 0.1831341385841369, + -0.4158545434474945, + 0.768298864364624 + ], + "min_active_finger_to_button": 0.1463831930593633, + "closest_active_finger": [ + 0.0556291788816452, + -0.4789098799228668, + 0.8108159303665161 + ], + "closest_active_finger_button": [ + 0.1831563264131546, + -0.4158763885498047, + 0.7762957215309143 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1275271475315094, + -0.06303349137306213, + 0.03452020883560181 + ], + "min_contact_pad_to_button": 0.021012099772072225, + "closest_contact_pad": [ + 0.1831341385841369, + -0.41620642615305486, + 0.7893080174982714 + ], + "closest_contact_pad_button": [ + 0.1831341385841369, + -0.4158545434474945, + 0.768298864364624 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00035188270556035794, + 0.021009153133647374 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1850c89f0a4d75936a621c35bf7a42c2d7bbb340feb9eb00026a40ec56ba53f7", + "visual_seed": 1185710921472102439, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fbafc9a048d2dcae98e5e3d7780a5b945a1f1f7b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "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": [ + 0.328400543441809, + 0.3615655276970392, + 1.1543599135562386 + ], + "current_z": 1.1543599135562386, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.297773406147673, + "gripper_z": 1.1475358436944991, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32330802304416884, + 0.3565892047287344, + 1.1475358436944991 + ], + "object_minus_gripper": [ + 0.005092520397640188, + 0.004976322968304803, + 0.006824069861739446 + ], + "object_to_gripper_xy": 0.0071202215053507495, + "object_to_gripper_z": 0.006824069861739446, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.328400543441809, + 0.33733382160806846, + 1.1543599135562386 + ], + "finger_b": [ + 0.3173852185924248, + 0.3615655276970392, + 1.1543599135562386 + ], + "finger_midpoint": [ + 0.3228928810171169, + 0.34944967465255383, + 1.1543599135562386 + ], + "object_minus_finger_midpoint": [ + 0.005507662424692139, + 0.01211585304448537, + 0.0 + ], + "finger_gap": 0.026617906783211243, + "fingertip_max_gap": 0.09061068959551075, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013308953391605633, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1543599135562386, + "object_top_z": 1.2000597370041122, + "finger_top_clearance": 0.0456998234478736, + "fingertip_min_top_clearance": 0.01370994703436208, + "object_projection_between_fingers": 0.8287435966207319, + "object_to_finger_line_xy": 0.010027840145310316, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047805344797755375, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7747714581282028, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 384, + "max_stable_success_frames": 384, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33543589851850836, + -0.3499920343334822, + 0.8470196059674739 + ], + "target_position": [ + 0.32580668316649253, + -0.3527647615917881, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010020469287635681, + "xy_threshold": 0.08, + "gripper_dist": 0.18908904475012248, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196059674739, + "min_z": 0.5730800627579278, + "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": 0.0755120516910699, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08759957057521504, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15752744869803167, + "release_required_pad_clearance": 0.053799785287607524, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6086263400489487, + "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": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008223772048950195, + "max_z_decrease": 0.008223772048950195, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003327207632995, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008223772048950195, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021072272710509272, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008223772048950195, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008223779909986136, + "max_button_displacement": 0.12, + "button_start": [ + 0.18150660395622248, + -0.40902620553970337, + 0.7768088579177856 + ], + "button_final": [ + 0.18150660395622248, + -0.40902620553970337, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18087718328390934, + -0.40845552174917793, + 0.8035783657552171 + ], + "closest_button": [ + 0.18149653077125547, + -0.40902093052864075, + 0.7685850858688354 + ], + "closest_ee_minus_button": [ + -0.000619347487346128, + 0.0005654087794628171, + 0.03499327988638168 + ], + "button_min_z_position": [ + 0.18149653077125547, + -0.40902093052864075, + 0.7685850858688354 + ], + "min_active_finger_to_button": 0.14618458312777036, + "closest_active_finger": [ + 0.05401434004306793, + -0.47162652015686035, + 0.8093079924583435 + ], + "closest_active_finger_button": [ + 0.1815138608217239, + -0.4090312421321869, + 0.7747300267219543 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12749952077865598, + -0.06259527802467346, + 0.03457796573638916 + ], + "min_contact_pad_to_button": 0.021072272710509272, + "closest_contact_pad": [ + 0.18149653077125547, + -0.4096155744325712, + 0.7896489667034203 + ], + "closest_contact_pad_button": [ + 0.18149653077125547, + -0.40902093052864075, + 0.7685850858688354 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005946439039304363, + 0.02106388083458488 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4202a71c6d11a8e05804e2cfa1239eb11759b52c1dde498257bdfd0e7bf180a7", + "visual_seed": 3625252447477916588, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..613016157cb3d3a86eb50098639d151d80e27ba6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "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": [ + 0.322029925647368, + 0.363338519711887, + 1.1577356804060652 + ], + "current_z": 1.1577356804060652, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3011491133928549, + "gripper_z": 1.150910971487289, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31680421000966386, + 0.3581768900057139, + 1.150910971487289 + ], + "object_minus_gripper": [ + 0.005225715637704131, + 0.005161629706173121, + 0.00682470891877629 + ], + "object_to_gripper_xy": 0.0073451021197662265, + "object_to_gripper_z": 0.00682470891877629, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.322029925647368, + 0.3391583407429226, + 1.1577356804060652 + ], + "finger_b": [ + 0.31056168243807614, + 0.363338519711887, + 1.1577356804060652 + ], + "finger_midpoint": [ + 0.31629580404272206, + 0.3512484302274048, + 1.1577356804060652 + ], + "object_minus_finger_midpoint": [ + 0.005734121604645925, + 0.012090089484482203, + 0.0 + ], + "finger_gap": 0.026761944198406384, + "fingertip_max_gap": 0.09063523305702867, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013380972099203192, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1577356804060652, + "object_top_z": 1.20343040716682, + "finger_top_clearance": 0.04569472676075481, + "fingertip_min_top_clearance": 0.013708418028226444, + "object_projection_between_fingers": 0.816363728049425, + "object_to_finger_line_xy": 0.010361884443238613, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781761652851434, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7770433633966223, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 385, + "max_stable_success_frames": 385, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3331879644766658, + -0.3552871141487875, + 0.8470201507436894 + ], + "target_position": [ + 0.3254415627238481, + -0.3571518279617191, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00796767831430181, + "xy_threshold": 0.08, + "gripper_dist": 0.18700698543392125, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470201507436894, + "min_z": 0.5730800627579278, + "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": 0.07559509657507081, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578278042635533, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15518398703420871, + "release_required_pad_clearance": 0.052891390213177666, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8213851219443818, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008321046829223633, + "max_z_decrease": 0.008321046829223633, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034997292995918985, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008321046829223633, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020995783946778014, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008321046829223633, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008321118173387819, + "max_button_displacement": 0.12, + "button_start": [ + 0.1811414957046508, + -0.4134132862091064, + 0.7768088579177856 + ], + "button_final": [ + 0.1811414957046508, + -0.4134132862091064, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18009664003502823, + -0.4134067533544351, + 0.8035355358709122 + ], + "closest_button": [ + 0.18116739392280573, + -0.41339778900146484, + 0.7685546278953552 + ], + "closest_ee_minus_button": [ + -0.001070753887777498, + -8.964352970264322e-06, + 0.034980907975556974 + ], + "button_min_z_position": [ + 0.18117052316665644, + -0.41339471936225886, + 0.768487811088562 + ], + "min_active_finger_to_button": 0.1467465328778274, + "closest_active_finger": [ + 0.05372956395149231, + -0.4775676131248474, + 0.8109099864959717 + ], + "closest_active_finger_button": [ + 0.18114414811134333, + -0.4134151339530944, + 0.7764930129051208 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12741458415985102, + -0.06415247917175299, + 0.03441697359085083 + ], + "min_contact_pad_to_button": 0.020995783946778014, + "closest_contact_pad": [ + 0.18117052316665644, + -0.41445848618842535, + 0.7894566294548727 + ], + "closest_contact_pad_button": [ + 0.18117052316665644, + -0.41339471936225886, + 0.768487811088562 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00106376682616649, + 0.020968818366310704 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "edd59bfe6f59ba55c6d1dca895396070537ada1ad9c8ca109566a4f18312500b", + "visual_seed": 9073568016484129702, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6a03cc4c9ed094303183cee1cdadf6911612df81 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "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": [ + 0.3204907495481314, + 0.36325003243893067, + 1.1567344814586213 + ], + "current_z": 1.1567344814586213, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.300147914445411, + "gripper_z": 1.149914030218376, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3152588295542932, + 0.3582133805119517, + 1.149914030218376 + ], + "object_minus_gripper": [ + 0.005231919993838208, + 0.005036651926978997, + 0.00682045124024544 + ], + "object_to_gripper_xy": 0.0072622895463803445, + "object_to_gripper_z": 0.00682045124024544, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3204907495481314, + 0.3389335070611266, + 1.1567344814586213 + ], + "finger_b": [ + 0.3093867554183081, + 0.36325003243893067, + 1.1567344814586213 + ], + "finger_midpoint": [ + 0.3149387524832198, + 0.35109176975002865, + 1.1567344814586213 + ], + "object_minus_finger_midpoint": [ + 0.005551997064911607, + 0.012158262688902022, + 0.0 + ], + "finger_gap": 0.026731855380510677, + "fingertip_max_gap": 0.0906634169870438, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013365927690255328, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1567344814586213, + "object_top_z": 1.2024095716820304, + "finger_top_clearance": 0.0456750902234091, + "fingertip_min_top_clearance": 0.013702527067022695, + "object_projection_between_fingers": 0.827455849286724, + "object_to_finger_line_xy": 0.01010070386845241, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047831708493521904, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6733185312080247, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3365290591449172, + -0.3567214422206927, + 0.8470195548420323 + ], + "target_position": [ + 0.3280206472977555, + -0.3591377460538038, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008844862710909045, + "xy_threshold": 0.08, + "gripper_dist": 0.18688414465931286, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195548420323, + "min_z": 0.5730800627579278, + "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": 0.0754816877098871, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523982039257737, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15549253140125943, + "release_required_pad_clearance": 0.052619910196288686, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3013157240896747, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008554995059967041, + "max_z_decrease": 0.008554995059967041, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501100656148779, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008554995059967041, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02099910235413327, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008554995059967041, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008555072446995217, + "max_button_displacement": 0.12, + "button_start": [ + 0.18372057378292084, + -0.41539919376373285, + 0.7768088579177856 + ], + "button_final": [ + 0.18372057378292084, + -0.41539919376373285, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18344405154639778, + -0.4142921511370798, + 0.8032473733630948 + ], + "closest_button": [ + 0.18370075523853302, + -0.41536867618560785, + 0.7682538628578186 + ], + "closest_ee_minus_button": [ + -0.00025670369213523503, + 0.0010765250485280653, + 0.034993510505276215 + ], + "button_min_z_position": [ + 0.18370075523853302, + -0.41536867618560785, + 0.7682538628578186 + ], + "min_active_finger_to_button": 0.1456371229668835, + "closest_active_finger": [ + 0.05725032836198807, + -0.4788495898246765, + 0.8107001781463623 + ], + "closest_active_finger_button": [ + 0.18372444808483124, + -0.4154014885425567, + 0.7762210965156555 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12647411972284317, + -0.0634481012821198, + 0.03447908163070679 + ], + "min_contact_pad_to_button": 0.02099910235413327, + "closest_contact_pad": [ + 0.18370075523853302, + -0.41536867618560785, + 0.7892529652119519 + ], + "closest_contact_pad_button": [ + 0.18370075523853302, + -0.41536867618560785, + 0.7682538628578186 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02099910235413327 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a119ce29dff1ecb518fc6b58172557ab53e18d9b5ea710db22e955131b317e89", + "visual_seed": 4144712060979190862, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c4795cd7943e1a3d42b5fce36f352235d888285 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "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": [ + 0.3207830288460571, + 0.3596754256769288, + 1.156334133624528 + ], + "current_z": 1.156334133624528, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.2997476858206073, + "gripper_z": 1.1495296801328956, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3156083731276569, + 0.35448717088724174, + 1.1495296801328956 + ], + "object_minus_gripper": [ + 0.005174655718400201, + 0.005188254789687041, + 0.006804453491632501 + ], + "object_to_gripper_xy": 0.007327690602548829, + "object_to_gripper_z": 0.006804453491632501, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3207830288460571, + 0.33553626016686333, + 1.156334133624528 + ], + "finger_b": [ + 0.3092734517933319, + 0.3596754256769288, + 1.156334133624528 + ], + "finger_midpoint": [ + 0.31502824031969445, + 0.34760584292189606, + 1.156334133624528 + ], + "object_minus_finger_midpoint": [ + 0.005754788526362631, + 0.012069582755032726, + 0.0 + ], + "finger_gap": 0.026742656477151856, + "fingertip_max_gap": 0.09066488579238055, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01337132823857594, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156334133624528, + "object_top_z": 1.2020510563564095, + "finger_top_clearance": 0.04571692273188144, + "fingertip_min_top_clearance": 0.013715076819564432, + "object_projection_between_fingers": 0.8147707201814057, + "object_to_finger_line_xy": 0.010389079546527348, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783244289619028, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6858647488314863, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 379, + "max_stable_success_frames": 379, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3321580408291447, + -0.35239149982540985, + 0.8470195318068753 + ], + "target_position": [ + 0.32397338684061594, + -0.35444626238953075, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00843863792959813, + "xy_threshold": 0.08, + "gripper_dist": 0.18697085649312792, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195318068753, + "min_z": 0.5730800627579278, + "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": 0.07562784449319988, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510011040841424, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1550838179484276, + "release_required_pad_clearance": 0.05255005520420712, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16785872981735664, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008212089538574219, + "max_z_decrease": 0.008212089538574219, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499753976979936, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008212089538574219, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02099317923860952, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008212089538574219, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008212137083002908, + "max_button_displacement": 0.12, + "button_start": [ + 0.1796733140945434, + -0.4107077121734619, + 0.7768088579177856 + ], + "button_final": [ + 0.1796733140945434, + -0.4107077121734619, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17882192299840294, + -0.4104710298903154, + 0.8036544524906236 + ], + "closest_button": [ + 0.1796953529119491, + -0.41069531440734863, + 0.768668532371521 + ], + "closest_ee_minus_button": [ + -0.0008734299135461643, + 0.00022428451703321306, + 0.03498592011910262 + ], + "button_min_z_position": [ + 0.17969764769077295, + -0.4106939733028412, + 0.7685967683792114 + ], + "min_active_finger_to_button": 0.1464665639342227, + "closest_active_finger": [ + 0.052398160099983215, + -0.47449734807014465, + 0.8109413981437683 + ], + "closest_active_finger_button": [ + 0.17967650294303888, + -0.41070976853370667, + 0.7765346765518188 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12727834284305567, + -0.06378757953643799, + 0.03440672159194946 + ], + "min_contact_pad_to_button": 0.02099317923860952, + "closest_contact_pad": [ + 0.17969764769077295, + -0.41154217633267176, + 0.7895728053300888 + ], + "closest_contact_pad_button": [ + 0.17969764769077295, + -0.4106939733028412, + 0.7685967683792114 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008482030298305743, + 0.020976036950877353 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c0544ca079c64784aea7c2e2d2ced54292373649a9dbd839d5844e230bba8b1", + "visual_seed": 6034055652285574452, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..57e293b67037a7f4fcca6f658795c499b27f5503 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "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": [ + 0.32794837804866717, + 0.35737460190365483, + 1.1577456916312114 + ], + "current_z": 1.1577456916312114, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30115918422264587, + "gripper_z": 1.1509272530156287, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32283449157460475, + 0.35224166702793663, + 1.1509272530156287 + ], + "object_minus_gripper": [ + 0.005113886474062412, + 0.005132934875718198, + 0.006818438615582734 + ], + "object_to_gripper_xy": 0.00724560938140904, + "object_to_gripper_z": 0.006818438615582734, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32794837804866717, + 0.33325406223634946, + 1.1577456916312114 + ], + "finger_b": [ + 0.3165532166787254, + 0.35737460190365483, + 1.1577456916312114 + ], + "finger_midpoint": [ + 0.3222507973636963, + 0.3453143320700022, + 1.1577456916312114 + ], + "object_minus_finger_midpoint": [ + 0.005697580684970893, + 0.01206026983365266, + 0.0 + ], + "finger_gap": 0.026676771477993088, + "fingertip_max_gap": 0.09062405189811104, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01333838573899652, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1577456916312114, + "object_top_z": 1.203436016597121, + "finger_top_clearance": 0.04569032496590952, + "fingertip_min_top_clearance": 0.01370709748977289, + "object_projection_between_fingers": 0.8175371632925856, + "object_to_finger_line_xy": 0.010303249854120062, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781202594905552, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6605850456371204, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32718011313953727, + -0.3560810528017053, + 0.8470192554325233 + ], + "target_position": [ + 0.31903101178312804, + -0.35786661957558535, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008342427801366641, + "xy_threshold": 0.08, + "gripper_dist": 0.1864028727567745, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192554325233, + "min_z": 0.5730800627579278, + "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": 0.07517656294646483, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08642663115280634, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15555482226901424, + "release_required_pad_clearance": 0.05321331557640317, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4461505292854244, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008357226848602295, + "max_z_decrease": 0.008357226848602295, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035055209794665976, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008357226848602295, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021030174876772622, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008357226848602295, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008357257327014702, + "max_button_displacement": 0.12, + "button_start": [ + 0.17473094165325165, + -0.41412806510925293, + 0.7768088579177856 + ], + "button_final": [ + 0.17473094165325165, + -0.41412806510925293, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17258545437396297, + -0.41321807439474184, + 0.8034286436614299 + ], + "closest_button": [ + 0.17474773526191711, + -0.41411298513412476, + 0.7684516310691833 + ], + "closest_ee_minus_button": [ + -0.0021622808879541433, + 0.0008949107393829148, + 0.034977012592246504 + ], + "button_min_z_position": [ + 0.17474773526191711, + -0.41411298513412476, + 0.7684516310691833 + ], + "min_active_finger_to_button": 0.14735156736495025, + "closest_active_finger": [ + 0.044775933027267456, + -0.474395215511322, + 0.8107253909111023 + ], + "closest_active_finger_button": [ + 0.17473451793193817, + -0.4141298830509186, + 0.7762095928192139 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12995858490467072, + -0.06026533246040344, + 0.03451579809188843 + ], + "min_contact_pad_to_button": 0.021030174876772622, + "closest_contact_pad": [ + 0.17474773526191711, + -0.41457336237797665, + 0.7894767662207343 + ], + "closest_contact_pad_button": [ + 0.17474773526191711, + -0.41411298513412476, + 0.7684516310691833 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00046037724385189494, + 0.02102513515155091 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "442bfc6c092c1e670cb63bbf3a4b37b41bd65a86139a7e1b61fa1237045b7094", + "visual_seed": 8191327628794217734, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8382fb0a6ec62b340bf5816bc9099313ac1e3379 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "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": [ + 0.3258219865860301, + 0.3657005806435999, + 1.1571929822169615 + ], + "current_z": 1.1571929822169615, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.300606474808396, + "gripper_z": 1.15037189172545, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3207599239517337, + 0.36062585103544603, + 1.15037189172545 + ], + "object_minus_gripper": [ + 0.005062062634296427, + 0.005074729608153861, + 0.006821090491511583 + ], + "object_to_gripper_xy": 0.007167800130403576, + "object_to_gripper_z": 0.006821090491511583, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3258219865860301, + 0.34159308727053433, + 1.1571929822169615 + ], + "finger_b": [ + 0.3145302856688745, + 0.3657005806435999, + 1.1571929822169615 + ], + "finger_midpoint": [ + 0.3201761361274523, + 0.3536468339570671, + 1.1571929822169615 + ], + "object_minus_finger_midpoint": [ + 0.005645850458577795, + 0.012053746686532807, + 0.0 + ], + "finger_gap": 0.026620926849658964, + "fingertip_max_gap": 0.09071397671931844, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013310463424829494, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1571929822169615, + "object_top_z": 1.2029291340242345, + "finger_top_clearance": 0.04573615180727297, + "fingertip_min_top_clearance": 0.013720845542181925, + "object_projection_between_fingers": 0.8200829221317865, + "object_to_finger_line_xy": 0.010225587056690145, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785698835965922, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8238056554880632, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 388, + "max_stable_success_frames": 388, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3282732889809001, + -0.35502310789839, + 0.8470195021401883 + ], + "target_position": [ + 0.32012013064912165, + -0.3570863305056386, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008410165177338067, + "xy_threshold": 0.08, + "gripper_dist": 0.1869755078498924, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195021401883, + "min_z": 0.5730800627579278, + "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": 0.07585120532341466, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08883673043757305, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15450880286597082, + "release_required_pad_clearance": 0.05441836521878653, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.862757753928518, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008222997188568115, + "max_z_decrease": 0.008222997188568115, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502269820336388, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008222997188568115, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021158622260417967, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008222997188568115, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008223012823490701, + "max_button_displacement": 0.12, + "button_start": [ + 0.1758200526237488, + -0.4133477807044983, + 0.7768088579177856 + ], + "button_final": [ + 0.1758200526237488, + -0.4133477807044983, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1765817047381163, + -0.41436060153743737, + 0.8035850425874029 + ], + "closest_button": [ + 0.1758115887641907, + -0.4133341610431671, + 0.7685858607292175 + ], + "closest_ee_minus_button": [ + 0.0007701159739255947, + -0.0010264404942702532, + 0.0349991818581854 + ], + "button_min_z_position": [ + 0.1758115887641907, + -0.4133341610431671, + 0.7685858607292175 + ], + "min_active_finger_to_button": 0.1449898890993185, + "closest_active_finger": [ + 0.035905271768569946, + -0.39759790897369385, + 0.8087725639343262 + ], + "closest_active_finger_button": [ + 0.17582789063453677, + -0.41335332393646235, + 0.7741966247558594 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13992261886596682, + 0.0157554149627685, + 0.0345759391784668 + ], + "min_contact_pad_to_button": 0.021158622260417967, + "closest_contact_pad": [ + 0.1758115887641907, + -0.4155979916873064, + 0.7896230270491787 + ], + "closest_contact_pad_button": [ + 0.1758115887641907, + -0.4133341610431671, + 0.7685858607292175 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002263830644139264, + 0.02103716631996122 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5476a4f037457ce8b911ff388669605330c015f33dae75f4cef185ee85c7f9ed", + "visual_seed": 9192893337477678682, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..426ef890fe2b2c63123798d4e3424313672be11a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "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": [ + 0.3257941500030714, + 0.36637988412619465, + 1.157404263475388 + ], + "current_z": 1.157404263475388, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3008176964621777, + "gripper_z": 1.1505952826367094, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3207748214988335, + 0.36123524114713235, + 1.1505952826367094 + ], + "object_minus_gripper": [ + 0.005019328504237863, + 0.005144642979062308, + 0.0068089808386786466 + ], + "object_to_gripper_xy": 0.007187559392135123, + "object_to_gripper_z": 0.0068089808386786466, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3257941500030714, + 0.34243239917738877, + 1.157404263475388 + ], + "finger_b": [ + 0.31424332361844104, + 0.36637988412619465, + 1.157404263475388 + ], + "finger_midpoint": [ + 0.3200187368107562, + 0.35440614165179174, + 1.157404263475388 + ], + "object_minus_finger_midpoint": [ + 0.005775413192315171, + 0.011973742474402915, + 0.0 + ], + "finger_gap": 0.02658765927157103, + "fingertip_max_gap": 0.09063323742854615, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013293829635785489, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157404263475388, + "object_top_z": 1.2031084820256734, + "finger_top_clearance": 0.04570421855028539, + "fingertip_min_top_clearance": 0.01371126556508565, + "object_projection_between_fingers": 0.8112591513931845, + "object_to_finger_line_xy": 0.01040382074130062, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047816618714273076, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7006812307478514, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33183701176385305, + -0.3543010091783328, + 0.8470195697149068 + ], + "target_position": [ + 0.3238410682605376, + -0.3561956529741132, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0082173467506916, + "xy_threshold": 0.08, + "gripper_dist": 0.18836357853037278, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195697149068, + "min_z": 0.5730800627579278, + "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": 0.07558455193910613, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557421541599562, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15647189333711303, + "release_required_pad_clearance": 0.05278710770799781, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6218085201067453, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008253633975982666, + "max_z_decrease": 0.008253633975982666, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499729065276646, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008253633975982666, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020991708868301866, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008253633975982666, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008253655942247544, + "max_button_displacement": 0.12, + "button_start": [ + 0.1795409917831421, + -0.41245710849761963, + 0.7768088579177856 + ], + "button_final": [ + 0.1795409917831421, + -0.41245710849761963, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17953764265226965, + -0.4124814301962944, + 0.8035524876860755 + ], + "closest_button": [ + 0.17954711616039276, + -0.4124390780925751, + 0.768555223941803 + ], + "closest_ee_minus_button": [ + -9.473508123108987e-06, + -4.235210371933418e-05, + 0.03499726374427248 + ], + "button_min_z_position": [ + 0.17954711616039276, + -0.4124390780925751, + 0.768555223941803 + ], + "min_active_finger_to_button": 0.1457882514337446, + "closest_active_finger": [ + 0.038598835468292236, + -0.3982253968715668, + 0.8097740411758423 + ], + "closest_active_finger_button": [ + 0.1795453131198883, + -0.41246128082275385, + 0.7753408551216125 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14094647765159607, + 0.014235883951187078, + 0.034433186054229736 + ], + "min_contact_pad_to_button": 0.020991708868301866, + "closest_contact_pad": [ + 0.17954711616039276, + -0.4134913956925361, + 0.7895205397963365 + ], + "closest_contact_pad_button": [ + 0.17954711616039276, + -0.4124390780925751, + 0.768555223941803 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010523175999610501, + 0.02096531585453354 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "78bae1193a9ae79a791eaad27d434e39704cd449d0121c4e63240537dbc88dc8", + "visual_seed": 6258947346895344560, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..76b1b7c2e8c931609e90af2ed08e2d9d27b61424 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "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": [ + 0.3243753677147615, + 0.36657805059900955, + 1.1562332179601642 + ], + "current_z": 1.1562332179601642, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.2996465913423091, + "gripper_z": 1.1493968145273652, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3192264665652761, + 0.3615142095986818, + 1.1493968145273652 + ], + "object_minus_gripper": [ + 0.0051489011494854076, + 0.005063841000327751, + 0.00683640343279901 + ], + "object_to_gripper_xy": 0.007221749699606911, + "object_to_gripper_z": 0.00683640343279901, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3243753677147615, + 0.34235598162797914, + 1.1562332179601642 + ], + "finger_b": [ + 0.3131772335544138, + 0.36657805059900955, + 1.1562332179601642 + ], + "finger_midpoint": [ + 0.3187763006345876, + 0.35446701611349435, + 1.1562332179601642 + ], + "object_minus_finger_midpoint": [ + 0.005599067080173881, + 0.012111034485515204, + 0.0 + ], + "finger_gap": 0.02668532993819826, + "fingertip_max_gap": 0.09075692149125966, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013342664969099142, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1562332179601642, + "object_top_z": 1.2019305151559787, + "finger_top_clearance": 0.0456972971958145, + "fingertip_min_top_clearance": 0.013709189158744316, + "object_projection_between_fingers": 0.8239053429883154, + "object_to_finger_line_xy": 0.010164460346076836, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04787846074562983, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7086568368564917, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3274869226446584, + -0.3575270465792175, + 0.8470195837993504 + ], + "target_position": [ + 0.31903693426621355, + -0.3595923491308545, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008698722792781211, + "xy_threshold": 0.08, + "gripper_dist": 0.18901862124699198, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195837993504, + "min_z": 0.5730800627579278, + "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": 0.07527146309940105, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581870231247256, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1578770709586718, + "release_required_pad_clearance": 0.05290935115623628, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8577438642185028, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0081712007522583, + "max_z_decrease": 0.0081712007522583, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500398310853378, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0081712007522583, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021183553079435678, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0081712007522583, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008171213495192285, + "max_button_displacement": 0.12, + "button_start": [ + 0.1747368574142456, + -0.41585379838943476, + 0.7768088579177856 + ], + "button_final": [ + 0.1747368574142456, + -0.41585379838943476, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17458548042153757, + -0.4167373874297956, + 0.8037031491348428 + ], + "closest_button": [ + 0.1747462600469589, + -0.4158427119255066, + 0.7687109708786011 + ], + "closest_ee_minus_button": [ + -0.00016077962542132562, + -0.0008946755042890109, + 0.03499217825624168 + ], + "button_min_z_position": [ + 0.17474541068077085, + -0.41584217548370356, + 0.7686376571655273 + ], + "min_active_finger_to_button": 0.14590123809196706, + "closest_active_finger": [ + 0.03406379371881485, + -0.3986774682998657, + 0.8078179359436035 + ], + "closest_active_finger_button": [ + 0.17474626004695887, + -0.41585972905158997, + 0.7731713652610779 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14068246632814402, + 0.017182260751724243, + 0.034646570682525635 + ], + "min_contact_pad_to_button": 0.021183553079435678, + "closest_contact_pad": [ + 0.17474541068077085, + -0.41809373116983645, + 0.7897012137992374 + ], + "closest_contact_pad_button": [ + 0.17474541068077085, + -0.41584217548370356, + 0.7686376571655273 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002251555686132889, + 0.021063556633710068 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b0090c28f23566a8e9445ce3b28bbecaa956f4c57d0af7b8a6ad290a70d5838b", + "visual_seed": 6249737095079745866, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8afcd07400763ac4e1822c192065a57c45c87948 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "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": [ + 0.32966549147099145, + 0.36307205004502424, + 1.1579850759934478 + ], + "current_z": 1.1579850759934478, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.301398628189527, + "gripper_z": 1.1511536173097294, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32462195428596763, + 0.35797359579917876, + 1.1511536173097294 + ], + "object_minus_gripper": [ + 0.005043537185023816, + 0.005098454245845485, + 0.006831458683718372 + ], + "object_to_gripper_xy": 0.007171576049495523, + "object_to_gripper_z": 0.006831458683718372, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32966549147099145, + 0.33904786615706894, + 1.1579850759934478 + ], + "finger_b": [ + 0.3182511412107508, + 0.36307205004502424, + 1.1579850759934478 + ], + "finger_midpoint": [ + 0.32395831634087113, + 0.3510599581010466, + 1.1579850759934478 + ], + "object_minus_finger_midpoint": [ + 0.005707175130120312, + 0.01201209194397762, + 0.0 + ], + "finger_gap": 0.026597909755199677, + "fingertip_max_gap": 0.0905353228604924, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013298954877599812, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1579850759934478, + "object_top_z": 1.2036881631434735, + "finger_top_clearance": 0.04570308715002569, + "fingertip_min_top_clearance": 0.01371092614500774, + "object_projection_between_fingers": 0.8158348826836861, + "object_to_finger_line_xy": 0.010309849613650316, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477676614302462, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7355331824456927, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 388, + "max_stable_success_frames": 388, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3279124891739942, + -0.35174957788456784, + 0.8470194529390478 + ], + "target_position": [ + 0.32026973856743385, + -0.35348796357576057, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007837960298790875, + "xy_threshold": 0.08, + "gripper_dist": 0.18676408362662264, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194529390478, + "min_z": 0.5730800627579278, + "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": 0.0755973912053319, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08536045161390703, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1549104723587625, + "release_required_pad_clearance": 0.052680225806953515, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.41684001869843423, + "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": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00827646255493164, + "max_z_decrease": 0.00827646255493164, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506797579020214, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00827646255493164, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021067276891118203, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00827646255493164, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008276470863173152, + "max_button_displacement": 0.12, + "button_start": [ + 0.17596966028213498, + -0.4097494184970855, + 0.7768088579177856 + ], + "button_final": [ + 0.17596966028213498, + -0.4097494184970855, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17416456905634592, + -0.4081564134556651, + 0.8035184017145472 + ], + "closest_button": [ + 0.1759589463472366, + -0.40974465012550354, + 0.768532395362854 + ], + "closest_ee_minus_button": [ + -0.0017943772908906863, + 0.0015882366698384276, + 0.034986006351693244 + ], + "button_min_z_position": [ + 0.1759589463472366, + -0.40974465012550354, + 0.768532395362854 + ], + "min_active_finger_to_button": 0.14679954872084824, + "closest_active_finger": [ + 0.04637522995471954, + -0.4693982005119324, + 0.8102236390113831 + ], + "closest_active_finger_button": [ + 0.17597509920597074, + -0.40975296497344965, + 0.775634229183197 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1295998692512512, + -0.05964523553848272, + 0.034589409828186035 + ], + "min_contact_pad_to_button": 0.021067276891118203, + "closest_contact_pad": [ + 0.1759589463472366, + -0.40974465012550354, + 0.7895996722539722 + ], + "closest_contact_pad_button": [ + 0.1759589463472366, + -0.40974465012550354, + 0.768532395362854 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021067276891118203 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f9e2f329044890e31ae7bdf6cc892cedc6b86a3e585edc9a4e3b826d229ed4f6", + "visual_seed": 3641782853454325003, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c31fadd2e294d47f71878616aa6dadc764e5949b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "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": [ + 0.32325366562711183, + 0.36705595978713174, + 1.1572929832238807 + ], + "current_z": 1.1572929832238807, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3007064162106704, + "gripper_z": 1.1504880173965017, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3180861866208726, + 0.3619804929644729, + 1.1504880173965017 + ], + "object_minus_gripper": [ + 0.005167479006239206, + 0.005075466822658858, + 0.006804965827378995 + ], + "object_to_gripper_xy": 0.00724314867635849, + "object_to_gripper_z": 0.006804965827378995, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32325366562711183, + 0.3428336010426959, + 1.1572929832238807 + ], + "finger_b": [ + 0.3120262514329519, + 0.36705595978713174, + 1.1572929832238807 + ], + "finger_midpoint": [ + 0.31763995853003185, + 0.35494478041491384, + 1.1572929832238807 + ], + "object_minus_finger_midpoint": [ + 0.0056137070970799785, + 0.012111179372217895, + 0.0 + ], + "finger_gap": 0.026697893037304875, + "fingertip_max_gap": 0.09069775514083775, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013348946518652413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1572929832238807, + "object_top_z": 1.2030234909518112, + "finger_top_clearance": 0.045730507727930414, + "fingertip_min_top_clearance": 0.01371915231837909, + "object_projection_between_fingers": 0.8231498177336298, + "object_to_finger_line_xy": 0.010186363920303093, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04784887757041888, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7214849915753143, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33217420668473263, + -0.35508159557723834, + 0.8470195505134063 + ], + "target_position": [ + 0.3242405810196009, + -0.3569775113400772, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008157016168564199, + "xy_threshold": 0.08, + "gripper_dist": 0.18905530723176134, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195505134063, + "min_z": 0.5730800627579278, + "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": 0.07527300034452217, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08624599898604861, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1579704094075632, + "release_required_pad_clearance": 0.053122999493024306, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2722433096568295, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008363544940948486, + "max_z_decrease": 0.008363544940948486, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501152952710655, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008363544940948486, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02109613519731091, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008363544940948486, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008363572337718096, + "max_button_displacement": 0.12, + "button_start": [ + 0.17994050681591034, + -0.41323897242546076, + 0.7768088579177856 + ], + "button_final": [ + 0.17994050681591034, + -0.41323897242546076, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18049947429563992, + -0.4123968559769739, + 0.8034428366957398 + ], + "closest_button": [ + 0.17994685471057886, + -0.41321852803230275, + 0.7684453129768372 + ], + "closest_ee_minus_button": [ + 0.0005526195850610593, + 0.0008216720553288481, + 0.034997523718902634 + ], + "button_min_z_position": [ + 0.17994685471057886, + -0.41321852803230275, + 0.7684453129768372 + ], + "min_active_finger_to_button": 0.1450570858913285, + "closest_active_finger": [ + 0.053303927183151245, + -0.4749096632003784, + 0.8076068758964539 + ], + "closest_active_finger_button": [ + 0.17995211482048032, + -0.41324481368064875, + 0.772976815700531 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12664818763732907, + -0.06166484951972967, + 0.03463006019592285 + ], + "min_contact_pad_to_button": 0.02109613519731091, + "closest_contact_pad": [ + 0.17994685471057886, + -0.4136268405689789, + 0.7895374963900263 + ], + "closest_contact_pad_button": [ + 0.17994685471057886, + -0.41321852803230275, + 0.7684453129768372 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00040831253667616974, + 0.02109218341318919 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dcebc2e2674fc35fdc6904f05b24a9fe9b1b23dc44ccf090859d6e650871ba29", + "visual_seed": 2419291120257749373, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b9d13e2ae0fbf75b5ad26dd5cd4e086148d7958 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "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": [ + 0.32193194745601816, + 0.35995587612006796, + 1.1580301967321935 + ], + "current_z": 1.1580301967321935, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30144374892827275, + "gripper_z": 1.151240841582482, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3167775206656038, + 0.35476782816842356, + 1.151240841582482 + ], + "object_minus_gripper": [ + 0.00515442679041439, + 0.005188047951644403, + 0.006789355149711573 + ], + "object_to_gripper_xy": 0.007313272665934402, + "object_to_gripper_z": 0.006789355149711573, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32193194745601816, + 0.335883975760219, + 1.1580301967321935 + ], + "finger_b": [ + 0.31034455129863403, + 0.35995587612006796, + 1.1580301967321935 + ], + "finger_midpoint": [ + 0.3161382493773261, + 0.3479199259401435, + 1.1580301967321935 + ], + "object_minus_finger_midpoint": [ + 0.005793698078692067, + 0.012035950179924482, + 0.0 + ], + "finger_gap": 0.026715615969740567, + "fingertip_max_gap": 0.09067687190311971, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013357807984870284, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1580301967321935, + "object_top_z": 1.2037771420315946, + "finger_top_clearance": 0.04574694529940104, + "fingertip_min_top_clearance": 0.01372408358982028, + "object_projection_between_fingers": 0.8118772466631811, + "object_to_finger_line_xy": 0.010440734215021593, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783843595155986, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8202967616927161, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 388, + "max_stable_success_frames": 388, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33382162620242645, + -0.3530328343189524, + 0.8470195751448852 + ], + "target_position": [ + 0.3264513690760464, + -0.3547651339603392, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007571099798345353, + "xy_threshold": 0.08, + "gripper_dist": 0.1879744587241636, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195751448852, + "min_z": 0.5730800627579278, + "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": 0.07591757396903527, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510059838840821, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15527087911555457, + "release_required_pad_clearance": 0.052550299194204106, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16785831620233838, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00820070505142212, + "max_z_decrease": 0.00820070505142212, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505307372129233, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00820070505142212, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02109980089712815, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00820070505142212, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008200716993786794, + "max_button_displacement": 0.12, + "button_start": [ + 0.1821512877941131, + -0.41102659702301025, + 0.7768088579177856 + ], + "button_final": [ + 0.1821512877941131, + -0.41102659702301025, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18100384779056458, + -0.40927058955043527, + 0.8035983591303832 + ], + "closest_button": [ + 0.18216338753700254, + -0.41101956367492676, + 0.7686081528663635 + ], + "closest_ee_minus_button": [ + -0.0011595397464379542, + 0.001748974124491487, + 0.03499020626401972 + ], + "button_min_z_position": [ + 0.18216338753700254, + -0.41101956367492676, + 0.7686081528663635 + ], + "min_active_finger_to_button": 0.14616388983825404, + "closest_active_finger": [ + 0.053842417895793915, + -0.47183704376220703, + 0.8077781200408936 + ], + "closest_active_finger_button": [ + 0.18216188251972196, + -0.41103169322013855, + 0.7731269001960754 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12831946462392804, + -0.06080535054206848, + 0.034651219844818115 + ], + "min_contact_pad_to_button": 0.02109980089712815, + "closest_contact_pad": [ + 0.18216338753700254, + -0.41101956367492676, + 0.7897079537634917 + ], + "closest_contact_pad_button": [ + 0.18216338753700254, + -0.41101956367492676, + 0.7686081528663635 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02109980089712815 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e1fe09aa6ae987b7693ec4a358cf703aa047a2bbec939bb5e1ca2d844b1a23c9", + "visual_seed": 8883753639877681568, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e445dacb27114dfd12da82dfa1cdd240b2ec75ad --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "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": [ + 0.3289321845448752, + 0.3656375401669546, + 1.154897547401369 + ], + "current_z": 1.154897547401369, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2983109803881586, + "gripper_z": 1.148107301958948, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32384319601307165, + 0.36062105372104253, + 1.148107301958948 + ], + "object_minus_gripper": [ + 0.005088988531803562, + 0.005016486445912072, + 0.006790245442420906 + ], + "object_to_gripper_xy": 0.007145833788918386, + "object_to_gripper_z": 0.006790245442420906, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3289321845448752, + 0.34141292018122754, + 1.154897547401369 + ], + "finger_b": [ + 0.3178593464815581, + 0.3656375401669546, + 1.154897547401369 + ], + "finger_midpoint": [ + 0.3233957655132167, + 0.3535252301740911, + 1.154897547401369 + ], + "object_minus_finger_midpoint": [ + 0.005536419031658524, + 0.012112309992863501, + 0.0 + ], + "finger_gap": 0.026635314081672305, + "fingertip_max_gap": 0.09075861123676363, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013317657040836116, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.154897547401369, + "object_top_z": 1.2006805235895346, + "finger_top_clearance": 0.045782976188165625, + "fingertip_min_top_clearance": 0.013734892856449687, + "object_projection_between_fingers": 0.8271767163663807, + "object_to_finger_line_xy": 0.010070663834669123, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047879305618381815, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7968062016084845, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32657976394949967, + -0.3538165573016385, + 0.8470195973047255 + ], + "target_position": [ + 0.3192691937759603, + -0.3554578844491073, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007492555709987175, + "xy_threshold": 0.08, + "gripper_dist": 0.1858087060131435, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195973047255, + "min_z": 0.5730800627579278, + "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": 0.0758785064705705, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850903556106976, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15323819320459164, + "release_required_pad_clearance": 0.0525451778053488, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.15825851517149367, + "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": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008456647396087646, + "max_z_decrease": 0.008456647396087646, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035010220465515114, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008456647396087646, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020960708063092425, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008456647396087646, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008456702502288275, + "max_button_displacement": 0.12, + "button_start": [ + 0.17496912181377414, + -0.4117193520069121, + 0.7768088579177856 + ], + "button_final": [ + 0.17496912181377414, + -0.4117193520069121, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17573166783748617, + -0.41183163242609216, + 0.8037198456611037 + ], + "closest_button": [ + 0.17496150732040405, + -0.41169553995132435, + 0.7687183618545532 + ], + "closest_ee_minus_button": [ + 0.0007701605170821191, + -0.00013609247476781272, + 0.03500148380655044 + ], + "button_min_z_position": [ + 0.17495177686214453, + -0.41169422864913935, + 0.768352210521698 + ], + "min_active_finger_to_button": 0.1449945371050312, + "closest_active_finger": [ + 0.034809552133083344, + -0.39763617515563965, + 0.8104565739631653 + ], + "closest_active_finger_button": [ + 0.17497111856937414, + -0.411722719669342, + 0.776109516620636 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1401615664362908, + 0.014086544513702337, + 0.0343470573425293 + ], + "min_contact_pad_to_button": 0.020960708063092425, + "closest_contact_pad": [ + 0.17495177686214453, + -0.4128282576576895, + 0.7892822191388476 + ], + "closest_contact_pad_button": [ + 0.17495177686214453, + -0.41169422864913935, + 0.768352210521698 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011340290085501414, + 0.020930008617149554 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0bfb48e43ccc2870261aa2a8111c7d8eae36821b213c018a69b528f1019e2699", + "visual_seed": 5672156776406510540, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..092ee8f332f9238c8d49cf61827ea8e87882fa99 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "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": [ + 0.3232550561564026, + 0.35944117380614016, + 1.1573123539917163 + ], + "current_z": 1.1573123539917163, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.30072596579244026, + "gripper_z": 1.1504869662546042, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31805064576760766, + 0.35439644967745587, + 1.1504869662546042 + ], + "object_minus_gripper": [ + 0.005204410388794933, + 0.005044724128684286, + 0.006825387737112054 + ], + "object_to_gripper_xy": 0.007248112101059562, + "object_to_gripper_z": 0.006825387737112054, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3232550561564026, + 0.33512365106402947, + 1.1573123539917163 + ], + "finger_b": [ + 0.31215693795921956, + 0.35944117380614016, + 1.1573123539917163 + ], + "finger_midpoint": [ + 0.3177059970578111, + 0.34728241243508484, + 1.1573123539917163 + ], + "object_minus_finger_midpoint": [ + 0.005549059098591491, + 0.012158761371055316, + 0.0 + ], + "finger_gap": 0.026730322479007165, + "fingertip_max_gap": 0.09060323153139796, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013365161239503546, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1573123539917163, + "object_top_z": 1.2030060925998116, + "finger_top_clearance": 0.045693738608095336, + "fingertip_min_top_clearance": 0.013708121582428633, + "object_projection_between_fingers": 0.8276186429661385, + "object_to_finger_line_xy": 0.010096351881522648, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780161576569898, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6623814560984203, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32746080505347763, + -0.35144783756885534, + 0.8470195660137179 + ], + "target_position": [ + 0.31912065968767944, + -0.35357565823390674, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008607301871391804, + "xy_threshold": 0.08, + "gripper_dist": 0.18715905552062467, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195660137179, + "min_z": 0.5730800627579278, + "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": 0.07564720235063267, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537614912980783, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15524734215366345, + "release_required_pad_clearance": 0.05268807456490392, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.43159993786009165, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008185803890228271, + "max_z_decrease": 0.008185803890228271, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499895692822214, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008185803890228271, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020888484718821612, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008185803890228271, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00818591507893841, + "max_button_displacement": 0.12, + "button_start": [ + 0.17482058703899384, + -0.40983712673187256, + 0.7768088579177856 + ], + "button_final": [ + 0.17482058703899384, + -0.40983712673187256, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17388043005534726, + -0.40919641453917693, + 0.8036027984013464 + ], + "closest_button": [ + 0.174858957529068, + -0.40981847047805786, + 0.7686230540275574 + ], + "closest_ee_minus_button": [ + -0.0009785274737207361, + 0.0006220559388809277, + 0.034979744373789035 + ], + "button_min_z_position": [ + 0.174858957529068, + -0.40981847047805786, + 0.7686230540275574 + ], + "min_active_finger_to_button": 0.14628023422608524, + "closest_active_finger": [ + 0.04803340137004852, + -0.4742777943611145, + 0.8105868101119995 + ], + "closest_active_finger_button": [ + 0.17482201755046847, + -0.40983960032463074, + 0.7763775587081909 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12678861618041995, + -0.06443819403648376, + 0.034209251403808594 + ], + "min_contact_pad_to_button": 0.020888484718821612, + "closest_contact_pad": [ + 0.174858957529068, + -0.4101610491000023, + 0.7895087293514781 + ], + "closest_contact_pad_button": [ + 0.174858957529068, + -0.40981847047805786, + 0.7686230540275574 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003425786219444227, + 0.020885675323920716 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f03d73cb633c27cfec8b000d60a45f4ffbbc6a1f5229c11bb282a58f5ad507a1", + "visual_seed": 2347434567897890342, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d9e7db5ac71627555cc4f0dc5729d553fc414c9e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "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": [ + 0.3270341232089959, + 0.3667026714629433, + 1.1575203787316835 + ], + "current_z": 1.1575203787316835, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3009338713231179, + "gripper_z": 1.1506919141915364, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3219969426107465, + 0.36154080594993865, + 1.1506919141915364 + ], + "object_minus_gripper": [ + 0.005037180598249369, + 0.0051618655130046265, + 0.006828464540147072 + ], + "object_to_gripper_xy": 0.007212353565496245, + "object_to_gripper_z": 0.006828464540147072, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3270341232089959, + 0.3427189587989293, + 1.1575203787316835 + ], + "finger_b": [ + 0.3154888398782789, + 0.3667026714629433, + 1.1575203787316835 + ], + "finger_midpoint": [ + 0.32126148154363743, + 0.3547108151309363, + 1.1575203787316835 + ], + "object_minus_finger_midpoint": [ + 0.005772641665358458, + 0.011991856332007, + 0.0 + ], + "finger_gap": 0.02661788947938053, + "fingertip_max_gap": 0.09061367292533232, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013308944739690253, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1575203787316835, + "object_top_z": 1.2032086526975432, + "finger_top_clearance": 0.04568827396585973, + "fingertip_min_top_clearance": 0.013706482189757951, + "object_projection_between_fingers": 0.8118683104902187, + "object_to_finger_line_xy": 0.010402731525466911, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780683646266616, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6567844222423327, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33090016481231627, + -0.34905023940241053, + 0.8470193342798389 + ], + "target_position": [ + 0.3226900756277537, + -0.351013959869698, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00844166822921364, + "xy_threshold": 0.08, + "gripper_dist": 0.18738302188129968, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193342798389, + "min_z": 0.5730800627579278, + "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": 0.07538347681095257, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08624656183632488, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15609275458001434, + "release_required_pad_clearance": 0.053123280918162444, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2716276485801379, + "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": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00839221477508545, + "max_z_decrease": 0.00839221477508545, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034994376770228465, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00839221477508545, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02096412770944396, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00839221477508545, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00839229474450146, + "max_button_displacement": 0.12, + "button_start": [ + 0.17838999629020683, + -0.4072754085063935, + 0.7768088579177856 + ], + "button_final": [ + 0.17838999629020683, + -0.4072754085063935, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17827026713938882, + -0.4069236611186346, + 0.8035345712514469 + ], + "closest_button": [ + 0.17841374874114985, + -0.4072543680667877, + 0.7685420513153076 + ], + "closest_ee_minus_button": [ + -0.00014348160176103075, + 0.0003307069481531255, + 0.03499251993613928 + ], + "button_min_z_position": [ + 0.178415760397911, + -0.40724936127662664, + 0.7684166431427002 + ], + "min_active_finger_to_button": 0.14575617291318038, + "closest_active_finger": [ + 0.05222999304533005, + -0.4716844856739044, + 0.8111066818237305 + ], + "closest_active_finger_button": [ + 0.17839689552783958, + -0.40727621316909796, + 0.7767795920372009 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12616690248250953, + -0.06440827250480646, + 0.03432708978652954 + ], + "min_contact_pad_to_button": 0.02096412770944396, + "closest_contact_pad": [ + 0.178415760397911, + -0.40791976684538733, + 0.789370048760672 + ], + "closest_contact_pad_button": [ + 0.178415760397911, + -0.40724936127662664, + 0.7684166431427002 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006704055687606902, + 0.020953405617971765 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7874d368a6e2e978a313a0248aa106741128f20c36afc0275c1d63ccf027ff57", + "visual_seed": 4448785989444171717, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..483e87b08b63386b049b15bf8cb394d78b836316 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "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": [ + 0.3289377531439411, + 0.3599328399330219, + 1.1559918441753843 + ], + "current_z": 1.1559918441753843, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.29940539637146346, + "gripper_z": 1.1491391201915584, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3237828832704778, + 0.35489361955818144, + 1.1491391201915584 + ], + "object_minus_gripper": [ + 0.005154869873463308, + 0.005039220374840447, + 0.006852723983825859 + ], + "object_to_gripper_xy": 0.007208774195280826, + "object_to_gripper_z": 0.006852723983825859, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3289377531439411, + 0.33567766040720903, + 1.1559918441753843 + ], + "finger_b": [ + 0.317815437830235, + 0.3599328399330219, + 1.1559918441753843 + ], + "finger_midpoint": [ + 0.3233765954870881, + 0.34780525017011543, + 1.1559918441753843 + ], + "object_minus_finger_midpoint": [ + 0.005561157656853, + 0.012127589762906454, + 0.0 + ], + "finger_gap": 0.026683695991502214, + "fingertip_max_gap": 0.09068639195877023, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01334184799575112, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1559918441753843, + "object_top_z": 1.2016585188557127, + "finger_top_clearance": 0.04566667468032848, + "fingertip_min_top_clearance": 0.01370000240409851, + "object_projection_between_fingers": 0.82626055179052, + "object_to_finger_line_xy": 0.010110059519586457, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04784319597938512, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6493896982989124, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3327593289732237, + -0.35798852421475386, + 0.8470193688016832 + ], + "target_position": [ + 0.3246401088385893, + -0.35999199914924884, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008362753578086723, + "xy_threshold": 0.08, + "gripper_dist": 0.18764489790764957, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193688016832, + "min_z": 0.5730800627579278, + "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": 0.07523669739539508, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08500735560468618, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1567393499959306, + "release_required_pad_clearance": 0.05250367780234309, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.07912881094286436, + "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": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008462965488433838, + "max_z_decrease": 0.008462965488433838, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035045796342949576, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008462965488433838, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020974003376467487, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008462965488433838, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008463059962289118, + "max_button_displacement": 0.12, + "button_start": [ + 0.18034003674983973, + -0.4162534475326538, + 0.7768088579177856 + ], + "button_final": [ + 0.18034003674983973, + -0.4162534475326538, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1814587023433123, + -0.414878761072835, + 0.8034087613412053 + ], + "closest_button": [ + 0.18036708235740656, + -0.41622823476791376, + 0.7684059739112854 + ], + "closest_ee_minus_button": [ + 0.001091619985905734, + 0.0013494736950787622, + 0.03500278742991991 + ], + "button_min_z_position": [ + 0.18036806583404538, + -0.41622492671012873, + 0.7683458924293518 + ], + "min_active_finger_to_button": 0.14425909577493637, + "closest_active_finger": [ + 0.05545778572559357, + -0.479753702878952, + 0.8107475638389587 + ], + "closest_active_finger_button": [ + 0.18034370243549344, + -0.4162561893463134, + 0.7763635516166687 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12488591670989987, + -0.0634975135326386, + 0.03438401222229004 + ], + "min_contact_pad_to_button": 0.020974003376467487, + "closest_contact_pad": [ + 0.18036806583404538, + -0.41622492671012873, + 0.7893198958058193 + ], + "closest_contact_pad_button": [ + 0.18036806583404538, + -0.41622492671012873, + 0.7683458924293518 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020974003376467487 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5475658c776be0d229dd9c072c979b22ae3cf3bcbecda6603fa4a2def017de00", + "visual_seed": 6039361120379536327, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..44eaf7ae8717ae8775e77bda03ac6e4117fa5d84 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "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": [ + 0.32436029670735206, + 0.36431383749215396, + 1.1546643314379135 + ], + "current_z": 1.1546643314379135, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29807776442470313, + "gripper_z": 1.1478388563393869, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31907327847115763, + 0.3592652913844397, + 1.1478388563393869 + ], + "object_minus_gripper": [ + 0.0052870182361944296, + 0.005048546107714269, + 0.006825475098526601 + ], + "object_to_gripper_xy": 0.007310292718596797, + "object_to_gripper_z": 0.006825475098526601, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32436029670735206, + 0.3399002506637045, + 1.1546643314379135 + ], + "finger_b": [ + 0.31330670980481296, + 0.36431383749215396, + 1.1546643314379135 + ], + "finger_midpoint": [ + 0.3188335032560825, + 0.35210704407792925, + 1.1546643314379135 + ], + "object_minus_finger_midpoint": [ + 0.005526793451269552, + 0.012206793414224704, + 0.0 + ], + "finger_gap": 0.02679934710477524, + "fingertip_max_gap": 0.09069560879405184, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013399673552387595, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1546643314379135, + "object_top_z": 1.2003811459985227, + "finger_top_clearance": 0.045716814560609276, + "fingertip_min_top_clearance": 0.013715044368182782, + "object_projection_between_fingers": 0.8298789586257806, + "object_to_finger_line_xy": 0.010069562611204981, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04784780439702592, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7039032354775735, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 379, + "max_stable_success_frames": 379, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3335552439025569, + -0.35382156158590855, + 0.8470196524025504 + ], + "target_position": [ + 0.32488506237907383, + -0.3563258166415034, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009024596447133802, + "xy_threshold": 0.08, + "gripper_dist": 0.1891183026386962, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196524025504, + "min_z": 0.5730800627579278, + "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": 0.07544438410868047, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08540349294737935, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15772430139015683, + "release_required_pad_clearance": 0.05270174647368968, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4579946033114414, + "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": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008242905139923096, + "max_z_decrease": 0.008242905139923096, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034994411315816765, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008242905139923096, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02095098149355331, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008242905139923096, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008242991075914953, + "max_button_displacement": 0.12, + "button_start": [ + 0.1805849820375442, + -0.4125872850418091, + 0.7768088579177856 + ], + "button_final": [ + 0.1805849820375442, + -0.4125872850418091, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17969099045416637, + -0.4125078274305648, + 0.80361995319353 + ], + "closest_button": [ + 0.18061633408069605, + -0.412571370601654, + 0.7686378359794617 + ], + "closest_ee_minus_button": [ + -0.0009253436265296844, + 6.35431710891976e-05, + 0.0349821172140683 + ], + "button_min_z_position": [ + 0.1806181669235229, + -0.41256952285766596, + 0.7685659527778625 + ], + "min_active_finger_to_button": 0.1465488372051708, + "closest_active_finger": [ + 0.05379720777273178, + -0.4775702655315399, + 0.8108952641487122 + ], + "closest_active_finger_button": [ + 0.18058830499649042, + -0.4125899374485016, + 0.7765712738037109 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12679109722375864, + -0.06498032808303833, + 0.03432399034500122 + ], + "min_contact_pad_to_button": 0.02095098149355331, + "closest_contact_pad": [ + 0.1806181669235229, + -0.41347329459034443, + 0.7894974319945454 + ], + "closest_contact_pad_button": [ + 0.1806181669235229, + -0.41256952285766596, + 0.7685659527778625 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009037717326784711, + 0.020931479216682813 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7f2583cf0661ea233919aee21c322c45951d5f0559ee180dc44612625b92ebe8", + "visual_seed": 9071048303949496958, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a2b212924dc24f0dc301aecbcee50ff89d28ec29 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "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": [ + 0.32946257676365676, + 0.36461766100792303, + 1.157097923788209 + ], + "current_z": 1.157097923788209, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.30051129717035396, + "gripper_z": 1.1502603591206118, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3242433909673791, + 0.3596486011529017, + 1.1502603591206118 + ], + "object_minus_gripper": [ + 0.00521918579627767, + 0.004969059855021329, + 0.006837564667597329 + ], + "object_to_gripper_xy": 0.007206348327610259, + "object_to_gripper_z": 0.006837564667597329, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32946257676365676, + 0.34020482368760985, + 1.157097923788209 + ], + "finger_b": [ + 0.3185868085083463, + 0.36461766100792303, + 1.157097923788209 + ], + "finger_midpoint": [ + 0.32402469263600153, + 0.35241124234776644, + 1.157097923788209 + ], + "object_minus_finger_midpoint": [ + 0.005437884127655224, + 0.012206418660156593, + 0.0 + ], + "finger_gap": 0.02672581076733304, + "fingertip_max_gap": 0.09070417401363698, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01336290538366652, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157097923788209, + "object_top_z": 1.202807439638927, + "finger_top_clearance": 0.04570951585071792, + "fingertip_min_top_clearance": 0.01371285475521541, + "object_projection_between_fingers": 0.8344008467773077, + "object_to_finger_line_xy": 0.00993452971218558, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785208700681849, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7324143521362227, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 383, + "max_stable_success_frames": 383, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3294663638424218, + -0.3560019759944184, + 0.8470193600773863 + ], + "target_position": [ + 0.32131178237247127, + -0.3581393789703706, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00843004688193783, + "xy_threshold": 0.08, + "gripper_dist": 0.18920725050791756, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193600773863, + "min_z": 0.5730800627579278, + "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": 0.07563872694481913, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08621266538980936, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1572183141418215, + "release_required_pad_clearance": 0.05310633269490468, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2354092142782611, + "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": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00826936960220337, + "max_z_decrease": 0.00826936960220337, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503122966248991, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00826936960220337, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02094944938887534, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00826936960220337, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008269449319761006, + "max_button_displacement": 0.12, + "button_start": [ + 0.17701171338558194, + -0.41440084576606756, + 0.7768088579177856 + ], + "button_final": [ + 0.17701171338558194, + -0.41440084576606756, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1784736808293554, + -0.4142792987277538, + 0.8035411363151782 + ], + "closest_button": [ + 0.17703755199909205, + -0.41437533497810364, + 0.7685394883155823 + ], + "closest_ee_minus_button": [ + 0.0014361288302633668, + 9.6036250349818e-05, + 0.03500164799959593 + ], + "button_min_z_position": [ + 0.17703755199909205, + -0.41437533497810364, + 0.7685394883155823 + ], + "min_active_finger_to_button": 0.14435662359037904, + "closest_active_finger": [ + 0.037480756640434265, + -0.40068161487579346, + 0.8109281063079834 + ], + "closest_active_finger_button": [ + 0.17701484262943262, + -0.4144029915332795, + 0.7765653729438782 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13953408598899836, + 0.013721376657486017, + 0.034362733364105225 + ], + "min_contact_pad_to_button": 0.02094944938887534, + "closest_contact_pad": [ + 0.17703755199909205, + -0.41523050472180545, + 0.7894714761429843 + ], + "closest_contact_pad_button": [ + 0.17703755199909205, + -0.41437533497810364, + 0.7685394883155823 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008551697437018113, + 0.02093198782740202 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 6843919548868063803, + "physical_seed": 7423332855794837018, + "layout_id": "layout_00053", + "step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "workflow_spec_digest": "dcdbed203c138d1b129d0338fcdc1ef4d9264cd664af5f6becae49b992b0f619", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "285e0121e1b21328862b6e0f87f3dfb54658f7a3c58cea06d78c0747ce98633f", + "visual_seed": 5650813901053991538, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5199353700918230458, + 1290258848948700541, + 5893590780811652695 + ], + "runtime_workflow_digest": "d705068fd6bb7c209abe2f30798cc4ab911b4d9fdd66cba9b959717f69378bb4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8a1c68d9e28e44823a7e7129275745fa0784119e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00053/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_htd_00053", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a77640adba6781dad3f0bf1518d7269117e60542 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3ad909c58ae9f42d9ba3e1c94068627871b3a89cb562cb8eb07b338d3e7fc3e +size 4951368 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..134a9ee0fdeb8aa476e11210b3ef7aab78fb9647 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:533e184dd7cf27e3a33ab45e4e9c298c7a2fe822b8e00990e417893bfd43e774 +size 5996598 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bbfa6998702371b650c65f1914024d93d72b4045 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:172d46609e8233545d37d62c569a673b0317c24e0c52a2c193221d2525d48194 +size 4795516 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6ff4336e18044e11472f7d14b85d7363ce3baa22 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ab16ff67c92852f7e4e85a996d41d98c3d9f3ebaab48b56bc622bf002a2eea6 +size 3840918 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7892c57c2aa43adb9b9112c331dc7f46f5c9a8a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62590ea7057d2016b0882d1f7312f475075352901165212fad9e222d16891058 +size 6094139 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e02ec9dc8148db05bc389c929a6cd32c9252a9f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed7c748e2c5eaf59eb1eda058a00c3bc04422bcedb43f08e6ca3f8de9d59bab8 +size 5625837 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8b2e0098853994534f7110449772e47dba6d672 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54458df5e0f3e5221e3c403b7ce775b1c6b0f2466844db5220fba9a17b2d7d9c +size 5637371 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4a9d96c8e3a2f27b94457956a19dd33aeaa1f641 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9eb99bd4f0b2b0db2c70f6fbef80e6fe7ccb53c88566d06b6b7c29a4e3156ba6 +size 5989026 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a6b786256fd66527e3e4fdadecf04e16d6568caf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:258c0bcdf233a11106a5c47f4ce5af4272135a5cf4dda2bce832ca626686ba2e +size 5920591 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf3b920a8be9793ee97e5869189b49150e782629 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f85c8cdaac5a7004e45a2850561854506d1d83b08ba5c26518d646b8b29f841 +size 5404737 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..45ce4b838bbe6bdccfdede7784a9b053e2e52cfb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc5d4da2011e9269543f5e6fcdc212cd417f4d39d7f82758db3dead85484fea2 +size 4881264 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e5315b07b063d352c72d8b8ffe8dfba46bcea1e3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4f56bf00a3e797942ca2e4b9da6a6e140bcf7653e8c61ae61e811525f14d185 +size 6073514 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0cbee12d9d03643ce0c0103b82f6dbaa8389be05 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa230324c3124e02194f08c5024ae0431ed77ac0bd01e650b43f8368334a4ce3 +size 5033030 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..519ec8aeab2364620cf52ff0ad7d57d378f41341 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:688e19cb88c2eb0b59e158de8114af0b5321eb5345fb7ebe3d73cb761c1cecf8 +size 6482382 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..735ef4c30702407755b32c4dd40ca563669f5078 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b161bd503bffb4343f7899d0eccb9e86792f0f3f0825682ae676a14a39e125da +size 3772919 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1db15064ac5e7c01f83e0ed398a58d7651622450 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d285e9f699262100f0200d584aba3027630304e9bcb9ef692a6879676c73538 +size 4404241 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c08a3a27bdd7bed632a68adc01911c14cbb1f98 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:132da8699c0d938120ddf2e026e7ec26e3f54e4cf08be94c56d59b4d692807bb +size 4600038 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..37f9d47a6c787f5258917afeb2828df3f760be63 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd7310e049ee3a17c81040028c6850bcee1aac75340ce45305c0ede061edef0d +size 4452546 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9549e98ab0ea6b3b7afd6d9740a2983e84aa9283 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eec864aec8a1a6f88a1c2be126b5370c9bae7c0464b8bfe2fe93bd3b49759a96 +size 7303496 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4a62944e9116efb403dd51fd054a81d85442eedf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5baa52afaf15db542a9b78b84728d9fd7eac8b61073364b5b0f151cf24545be2 +size 4001298 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1448ef1ac63c2350d859628096fdaed241020b75 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2f09c55327681bc809640572851b2022e2237363e921119465fa7012572f8d4 +size 5152067 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..241a1a5fae6bf72177ad2572d3c427afa1ab3b80 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d402952c7830afab2c0060d88dcac95122c1d8c6cd720a9e4b4b34b3289bbf7 +size 4526177 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..81fd01e94b0c8d27c8b99b0f3c09f217b666d02c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da649a09363799eab056e77a77a3a896615901f2bc5dc0f8ed3a033fa0c77dd8 +size 4987233 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..891110c0e62318cf9295405ba4144d34994e93d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:badc78b9d59b83263eccfd077676ab429fb54160763dd8ab39fa0e4efa5d9a94 +size 5882509 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..10511467c48e5444cfb1dc7b52015693cdb4dbca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71609483bc8c533d8836baa73cf39bd7add139b82dd29b73c64e5e3f3feca2ae +size 4362672 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..472a15edc71ea33479ce40d94c9018c39348add4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9a2b7dbde7b4a4e8a1969f1a1558b5f96ad76476c0348d18c65b44cac4b4465 +size 4519407 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b36cf07a8f5466fcd4399a90d5e885eefbcd016 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da6f2cf2bbbdc1522552c52f38716421a4a36e36276488d63a3106543feeec7d +size 7247439 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..747b389a0cfdfb67ef09ce940a6cb92c27e76ea5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecda0db1786f876c3ba65c015eb9c5338e4fa674b078237c9bb4acbbef4ad839 +size 5015587 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..69de9b9ad2421e5b4c0b983ec891fef33317bea0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:380c23a24557e347320c81620e8bb9dd67465e64173f8f4618deab4624200abf +size 4525122 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..abcebb0bab01df6b8b22a7b869e9868380e7b475 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39ef23f5c431eb3dbd70b10525d2467b7dc84bc89624fa39789873cb7cfab54a +size 4773458 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..42660064d62e0d7bda03d2c006fd01b50a1dd43f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d29b50614a6c91e811ac67ed73ce9866f428e57a6ec3525c8b2be09416d13b89 +size 5718048 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3591ce1eb6f3ce0304e486cd5c86f2a9b066e3d3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2940572df1533974b23a3721b0325cfdf0464f4bc0c17b974a991343823fc9b5 +size 6089499 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5cbcd3b1472c337f406cd8f47f0be41293e6035c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d6f2c5d6b7e5a5fc06b5a34ca22402c34a4a8b134be804e0138c558c014ee50 +size 4891328 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7916ef0dffc7104c2a6d7af82bd565f44129598f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6561af562c15ae9f04d74239c69336eb864b3f7bfc2a216d42b4ce03fff536e6 +size 4283636 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f5979200fdf4d3b9640ad76341f7093037efb1c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26fdb67b358cfe92224911d318414fe3b16fddfdd9ddeb270ff3632428f57984 +size 6817203 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..587d1fa1c27376da7efa3db5a7ae9a2759b9206b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13544577e4069db532085f3cfe5ca5cd2c700460ce8660fd5802074da7b4b2cc +size 5678777 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3f4dc10ab10282f4a3a045b2c975f649285e3b8e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cac41edfea170cd6ba6d10d26fec923707e98e8b9aeda962a4677f58a8248b5 +size 4529016 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4bc99ead7aafcbabb057571cde57335a9b5a0e03 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05123ff1ade3bc76b42764a342f2d578b19d2c50980bba3a085fe07787316e21 +size 4016143 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7a929da00114d71b988cfd63c673b6111756a626 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5833f728e3e92186ccf5b07a784594663df6f9fcf618fdad99dc201325754308 +size 5203928 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..24597f9914ceb93a545102722a7d3ea710181113 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19ddbab4917b9d005351a044b6a700b73c343960869d9961b70dd7e1e41d5e14 +size 4121646 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b216a42dac8e5f81cccd9c4decf57acd9b6abf8c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ca7628005ca889f77c79501205d9a4f065b2906949929b76a7e3c15fc88ceed +size 5498106 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e0ad11182ea5b59b5b0fe2288c9492d000a7a000 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9780b86bc95d704a81196e195b410bcda3e3bace0cf7439d97b8429fd609129e +size 5203832 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..83ae42f1339305c134e66eaa48129665865fb149 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1312b3dc9514807715d7a9d8b0800e5bb261bf38606708892613b38d32416347 +size 4870229 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6d8da5e39112ccad938511010d3438180a192d49 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e74e90f50442194875f82bcf7c293e71857d604828af07f8db9784eee73453d5 +size 6113839 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3598abf46ae37fc55560fe77a9f244386f32420f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:496fb93e403df56950b60ceb26a0cd7dda0542c6101911daee88e6398110e144 +size 4158058 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7f7727dfa96ebb4584af57a15253663ee3d7965b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44a5d7a9f6bf4ca8140e4619806b1313ef5cd7671337d7456c4f3efac4541b95 +size 5458922 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e080f456d316e17ed673a99e9cbbb6c521764e97 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e495b42f05ea3a21effbd4db9ebb5fc9cc88801ab30f31453072995db2adc699 +size 5499183 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b82d305342d02e70957ee38383c1ef2f3c2fd6e6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36a10f9bbfd9cf942040061e482c4ef7dae1b16dfccd9a6e7ee20b176777441b +size 4564475 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0ec20fd1b9f35539b893485737429f940cc87668 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39c2476069742575df583f44163981e8757340a8d467e541269a938b42404be3 +size 4776906 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0dfdc180cab29c1b90ac4376c9d945db8660a8d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c239440b92f730e0fb30965e3d8a39b2c25de2c545e4d875b765c463987f4965 +size 5466400 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..42f3dccc2d0b4b00cf2eec0f6d19515df694c67f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:302bad1b271f23a9a08cde3c50416e9f16aba6011979d2c0dfc7d8ea129e2bc0 +size 5052408 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e77be3492b0d87053e0f51385a238f2a223abd71 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6799f7d5e8768de020faecb43aacee17400fa254872c5bbf62fcdf5ce29e3ca7 +size 5616819 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..84c4f98dbbe452f125d2a13ed502531f3715f8ca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7d7f0a1a8a8740641396f4d1bf77ff8d0696ef88ef1ea2d72cfb3c2d2b3485b +size 4031800 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf6defdfbee8706b960475504c3862a5fae73584 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e29fb62cd7159a5a3e6ba35f6d7565433e148a6b07e530464e3c1ba85610ee10 +size 4957641 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c463e8d262b03c43766bd2d2ae15a164bb58e2bd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f4a5e1f6b91dbdcf728c3f76e10d5b38b8fb74f915f446da6a4e130835bce4b +size 6657685 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e90b3d583120581f90c797c33b6871da22e6f09f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6442291923c29af4ac9f36295c1d6e415762ca540b359401ec67b456b85d0100 +size 3996015 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bcf96ed947c001093034bf46210afdde16db6436 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47f6409c47535b795fc49d2c6479e16b1ab0b16cfbaf69ed7cc2b729bea91881 +size 5998660 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de5df001a9a188ca085e95d347c1875502937947 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:658ebbd2694aebb1cfe493a5922228ef4224ec8dde5d93b92ae9f857c5c56c19 +size 4171838 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7195e7e905afa3d84004cea5e30de4c16e43513b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a129e4b3bb3db41bd124e73af2e77d1197061a6882f631461d956d575f48679a +size 4527314 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6bc6db05cff0f474788d12f6848cdc2058176f58 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3d2a06b68fcde169228cc3f216d1ed40096787d1d143d898e70ef8597a05bc9 +size 4402039 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..43de5aa8bfb77b7a7f74d35ac93b099a6f43a558 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f556f5c0744c3292e4ee2f35e947229858bb7fa2d4bd033ae05d50dbf061635b +size 5235777 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..93c74c8441223b0baa2fb09f1b3a7036be353a8c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fc389aae3e1dba0cd85293eff856f3e575aff805082e4bc91dc5e0f8e7d2f33 +size 4698452 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6f9165a57302891a5dc5199b5d9bea1056ea4953 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca7ab33ee34d99baf72915c73151b8ef176f77fcb57f0701999edd90f09355d4 +size 4194255 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7255545f5214a157070692742829694c9521f518 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b51585ab1ddf0181ee2c4026826ab85ee3755b5cff2be9f4ddaedcfdd37869a +size 4753371 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..36ddeccafdfb9c142435c9587a64cae4d4fa1532 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d7c21762890a1949502aa908629f4dd7c24186fa4e2311b8d35f6b3a880597a +size 4468575 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b06ee8b8bf782cb5c28c3e9127b94d7e89e19303 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c1bc20373e8f15fc68ccc93767d6fc5612b3bc46a265076e62992873d329626 +size 4779502 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0a46defc9c00adb4bbea9a979fcef4e7bbee5e94 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d3381057624e3e23ec406b34a68caf5680c058a796ba3989f273a0b26b3d8fd +size 5172528 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..81a3589990c6f0a0d3ea8e7b74954d115c2b04f5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ad4399bf359374e49dc9edb2015bb7a870c900c6f223b2078fde1c81eeb22b8 +size 5511328 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..af573b694b88e199e7d729cc7a2649d01f814262 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:347da41ca2b35a84c3ad545e5a1c4c299fe858577d248958bde52b69bc872738 +size 5325190 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..91b3dc4d6d5ba36e6595960ddd12714888b09f51 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d179cfa4558afb11fbf3c07a7c887092bc1d1275ff3055dc6c58302770f3d37 +size 4623522 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..634d363fb904f3164e14772b775173bd8fdb033e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:861e30f30becd2e2f7b404f12d8c63d1c773b48256cb6e90f4373e0142cf5bbc +size 4332218 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5cd85929088632f41e6cc12cc048bf228aaca7e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2f06ef8e090a58ef828c7b1ad6f64a365856d3ff83a19e9b89f643f0a8edde1 +size 4642647 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df3bb6e4982bada4526e948e7322d4bb84cfad2b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:473792b8f13fedd50e6999d9b08782407745398289a2e8b2b949e7d67d26e73f +size 5431458 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9d265c91387d9a037d679676e4267cf60685a9a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d3dd83aeae7b16e5970803f0bb10e79c69f32062ff78cea8a7e0a4f7eac25cc +size 5648543 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..49fae0bd1d09374c9f62982dd6edb10aa2e9f505 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bda3d76e9d42b1db6d0c57fd76d557c7d859effa0f21932e8ee527cf6f572f96 +size 4384407 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..016e2a6a5a95f37e1ce408008d6601ab5ce450a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0b4700e454872e46cec20e2b34f4fd37f1aaa6a8e5200e8dcb6c2e161a97f04 +size 5570555 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ebb2bf8b103661191dad14598959bdfee59e6389 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35a766898ef8d023eb9dc24404cf648cacd107ece2430c4c77bc9ad0c490386e +size 4986502 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bd594a124dd7b0b91350f473269d9443dfb2672 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c2054fa0cd9e237334f57df1ca2cd97afc1f156092e695ac6a59b19d1036c8f +size 5324953 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5ab72085071e03e23f9ce7b9039ab11c139d8649 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f184fc8c09609117a127db37cf8256648edbf288f2a999c38f8926234b84325c +size 4327952 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f995706f96596dcda1fd12158f0105ffed401ed8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e3d7d745c44841a1cbf058861943b36e68b11959f99711e5447d34a1d5b6593 +size 4430187 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..180266e23e9f346acbe858b943130c26350fb262 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4660793fed863106cb8fcbcd507014629dfe5555910d440478024fe9dbd747a2 +size 4103481 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..70d545fd7a320d9aff0feadbe6387611858acb84 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bdee395769cca93052611402766605dae05fc472592b7266e217b9514631c0e +size 4978700 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66eb79abe6e35a8a7674400d2bfdb6a00620fffb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7bdd4c2f89b120ea1288aace1f5ade7a9550db809c325323c5510355b6ac1ab +size 4510583 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..489434291a25d308bb8deeec1c525088587162ae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a888af5608bb9d979010d8d204ab457cd20b8798ae58d1b6e2b30e8a6af339de +size 5333665 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..27157113d0d6b98f750b911a8397d3f09e75f785 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac784fc6aea5720003809220debe82457485c4b5777ab466f175b29afa6e6483 +size 5091170 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0ad06192d8ce8ced92197b5c6df99c5b77cbb36e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78925770fe89643963a350706b2515543bcb01f4510a69ffe0f2dd2738685b7b +size 5798774 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9319c2a63851f7ce0504fd070b603cec4067398b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72897f4576a76f0d2ec26a50a6b95b92a97130ea34cba24569b8f7d1d41248e9 +size 4798137 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1728a6ae2e077151617e01a072db7775a0e123c3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:449b0bdb75b88dc0e6588e7299b3528fc9df119ddea0ce21c29ad51090a577d2 +size 5693339 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8bb295d1ad32e772d612321c19ec5f7a56bac28 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4001ab74e97710f47a05e47d5d90d56fa274b608f879d4e0b40a9f97c2627dd4 +size 5596243 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2ba972813d7433ddaf6a809512108e79975ce38d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2646d0f5f9b43f5955029f8692086f0de0f5e35aa808009c3f19c31ef466f55b +size 4572350 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..711522d8d9fe970c5ac4a7a51a3cc0f4854c9366 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91a1bbb74f882262db8c624f39f5dbde783716fec8f492dadae968c304a1f574 +size 6420699 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e6cb0cf33eaff57313265a6f57dd0d092ae150d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f294ccb47a819d5785b30248c196278efe76b84d0a2454116028b0087299a6c +size 4812524 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ebdc2fe090f912c216284178f45df51f73802e42 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abf509114b0c794399618ae2d5f4a9e93f2cb5f3ee4a37e2d347ba7a8384079b +size 5920592 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..43a4112bd3e26609af0887d28576cd3e9c440708 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e89ef4daa90e2428041c777cb7bb5eb75aac88052bd657247a718924ffc56c1f +size 5993594 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c771d804be1b2e08bcbf01279b301d7b4f1899b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9f010401f4656bef0fee3b0246b135d2d2824b1ee2a5a8a202d34669312039a +size 4265531 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d04384cd99bc3592b48ecacecbab22da4b8131c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76838db54e1ddc3624429196cd8ca794ee30b87d87a6a32e7d54436e5ef06179 +size 5556069 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c6f835a10b5f44e4149c390ca4b3c69375429c7b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4375bb7dba512388e0981406372061ace22eb1bd7a43a71982b0b0b8e5142824 +size 4232243 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..60c24d22d8af0da839824e006f55e7f38d292ebf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13cd2ae9192ea81ca9ad938e56bb805bf16282ef76b7e7c7c26d2e2d6ba52d68 +size 4969337 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38d16dca75ba0ebd5b8bc829f6dd349262fc6015 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4047bc3aaa26388f3a2def1dfa6f2f6f82949bd189f142a196c3287a07ef191a +size 4514309 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6187ed31a62ad33cc638efa28557bf0ade6f0b3d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7d0ea1b9d3b53144d9893b9e914eedbb0edd06351b15872cf293206ad755010 +size 4972381 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ce2db0cc828b581367a8bc1702c5043e3d67ed2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":988,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":991,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":988,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":989,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1003,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":968,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":975,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":989,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":975,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1005,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1002,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":970,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":969,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1002,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":987,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":994,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":976,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1008,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":990,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":969,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":989,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":989,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":999,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1005,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1003,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":964,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":999,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":993,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":974,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":995,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":987,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":993,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":970,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1017,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1012,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":973,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":991,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":986,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":977,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1007,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":988,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":967,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":998,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":997,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1013,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":992,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":995,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":985,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1005,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":985,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":970,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":988,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1014,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":993,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":997,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":978,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":963,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":972,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":995,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":997,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1002,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1002,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":991,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":992,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":971,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":997,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":996,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":989,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":987,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":963,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":971,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1003,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1011,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffac6ee4ccbab38919a74591c444014b526a1ee9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-04T15:44:56","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[0.3595401769522384,-1.9554066810980106,0.71338606911949],"aabb_xy":[[0.29454017595173787,-2.006193046252686],[0.4245401779527389,-1.9046203159433355]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[0.1987498197456392,-1.5555491084727509,0.71338606911949],"aabb_xy":[[0.16020412692043817,-1.5940948795289396],[0.23729551257084025,-1.5170033374165621]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[0.18377659649787992,0.8760836288442233,0.71338606911949],"aabb_xy":[[0.14100988961845973,0.812083625422421],[0.2265433033773001,0.9400836322660259]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.5441779131848352,0.17965822749919624,0.71338606911949],"aabb_xy":[[0.4941779115233404,0.1296597852434935],[0.5941779148463299,0.22965666975489893]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.20393826834931678,1.255498269530908,0.71338606911949],"aabb_xy":[[-0.24097237777737648,1.2211210621971984],[-0.16690415892125707,1.2898754768646172]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[0.2528611536939106,1.3727211769278083,0.71338606911949],"aabb_xy":[[0.23095247155455956,1.3508205101077173],[0.27476983583326164,1.3946218437478988]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.0460490942413776,1.0476440675004253,0.71338606911949],"aabb_xy":[[-0.11004909341114755,1.0008773803814628],[0.017950904928392335,1.0944107546193877]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[0.37535951594416805,1.648029249453789,0.71338606911949],"aabb_xy":[[0.3203595177424232,1.6075072828273511],[0.4303595141459129,1.6885512160802263]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.39934411250765134,-0.1558412442416448,0.71338606911949],"aabb_xy":[[0.3891910969535019,-0.1919107858143851],[0.40949712806180066,-0.11977170266890444]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[0.4299122373172628,-0.5006749371288075,0.71338606911949],"aabb_xy":[[0.40741223730711457,-0.5147711567684108],[0.45241223732741115,-0.4865787174892042]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.10124851084297704,-1.1097020402989373,0.71338606911949],"aabb_xy":[[-0.16524850812862568,-1.1512087592517815],[-0.037248513557328375,-1.0681953213460935]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[0.623252587859749,-0.8038545534983441,0.71338606911949],"aabb_xy":[[0.5432525892724296,-0.8831701554365051],[0.7032525864470685,-0.7245389515601833]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.3877917058694036,-0.3625446549287723,0.71338606911949],"aabb_xy":[[-0.432784292587854,-0.40754465420322106],[-0.3427991191509532,-0.31754465565432355]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[0.5163238079831738,-1.6502344923469048,0.71338606911949],"aabb_xy":[[0.43260158248309133,-1.7402344958816005],[0.6000460334832562,-1.5602344888122086]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[-0.6252030588702342,-2.030530660923382,0.71338606911949],"aabb_xy":[[-0.6380749623711742,-2.1105306613372177],[-0.612331155369294,-1.9505306605095456]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.5790252379842484,0.3363237788324338,0.71338606911949],"aabb_xy":[[0.5415252364686167,0.32509700581628875],[0.6165252394998801,0.34755055184857886]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.07506127589206124,-1.0533789479454427,0.71338606911949],"aabb_xy":[[0.01106127561808301,-1.1034450481427305],[0.13906127616603947,-1.0033128477481545]]},{"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_17","position":[-0.27781380845815107,-0.27435952565902744,0.71338606911949],"aabb_xy":[[-0.2956829162126066,-0.2881924336362384],[-0.25994470070369563,-0.26052661768181656]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[0.16639378299825136,1.6327274887072378,0.71338606911949],"aabb_xy":[[0.16196315364341118,1.6272791169725553],[0.17082441235309154,1.6381758604419203]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.037324877512219024,-1.6426933791285656,0.71338606911949],"aabb_xy":[[-0.1013248739077921,-1.7066566675472994],[0.026675118883354054,-1.5787300907098323]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[0.10490389005779255,-2.0569798342371612,0.71338606911949],"aabb_xy":[[0.09610183474881982,-2.06479116039209],[0.11370594536676525,-2.0491685080822317]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[0.0496278657168987,-1.392406273522189,0.71338606911949],"aabb_xy":[[0.002498486715063024,-1.4564062745665904],[0.09675724471873437,-1.3284062724777865]]}],"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":0.6479601380217133,"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/1941.png","name":"1941"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1941.png","name":"1941"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6567.png","name":"6567"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3382.png","name":"3382"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2441.png","name":"2441"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9709.png","name":"9709"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":562.7640761480144,"rotation_z_degrees":156.28454523791362,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018247018571210246,-0.010710778563731895,-0.0170161572041362]},{"name":"camera_2","offset_m":[0.0184408720886076,0.014260468302446299,-0.0142965383351949]},{"name":"camera_3","offset_m":[-0.009675690244869002,-0.006916136249870726,0.011103757629181307]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001460135584038787,0.0003226101824105915,-0.0006666429422489465],"end_effector_yaw_offset_degrees":0.6333785847343412},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013215397025172974,0.0015448014692380422,-0.0017956187489980332],"end_effector_yaw_offset_degrees":0.03132982417360464},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00028786814864279137,0.000968598905617376,-0.0007480203196633536],"end_effector_yaw_offset_degrees":0.1086436664098327}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004417931095788607,0.004303835298628146],"position_m":[0.2227179310957886,0.27150383529862815,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00018855191006991994,-0.001239635081567133],"position_m":[0.21791144808993007,-0.35663963508156715,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004616265421920193,0.001044632613734566],"position_m":[0.317161626542192,-0.058155367386265436,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010185886306053413,-0.0015837570312964779],"position_m":[0.35548141136939465,0.1643162429687035,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ac814b904cb9921e08c3019bb4f6f2ba75ccf9a7cb3db2500ec5f27ee338a2e4","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1941/tex_ceiling_textures_9709/tex_floor_textures_2441/tex_table_textures_6567/tex_wall_textures_3382","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":418197307218892853,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":418197307218892853,"visual_seed":418197307218892853,"scene_id":"lab_003","finished_at":"2026-09-04T15:47:43"} +{"episode_id":"ep_000001","started_at":"2026-09-04T15:47:49","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[0.21101592505528977,-1.0718815010644969,0.71338606911949],"aabb_xy":[[0.19338308946176216,-1.0895044470801196],[0.2286487606488173,-1.0542585550488737]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.6865167780691377,-0.4376471140735161,0.71338606911949],"aabb_xy":[[-0.694510766646841,-0.4456471941686064],[-0.6785227894914342,-0.4296470339784257]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.3909022292711044,-2.1192724534176115,0.71338606911949],"aabb_xy":[[0.3828658945698195,-2.127310572722028],[0.3989385639723892,-2.111234334113194]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.21309289714926088,1.2576487895189423,0.71338606911949],"aabb_xy":[[-0.221206551822638,1.2495429730649132],[-0.20497924247588378,1.2657546059729714]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.562979053879403,1.4818744151109304,0.71338606911949],"aabb_xy":[[-0.6004790539849959,1.475052253257949],[-0.52547905377381,1.4886965769639113]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[-0.12985029355245048,0.9436293204891522,0.71338606911949],"aabb_xy":[[-0.1432968201864938,0.9301594688360609],[-0.11640376691840715,0.9570991721422434]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[0.04869668041237274,0.9489146805334343,0.71338606911949],"aabb_xy":[[-0.0012807364528808413,0.8989146790441858],[0.09867409727762633,0.9989146820226829]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.4024413737376056,-0.35106697703560563,0.71338606911949],"aabb_xy":[[0.3524625652272896,-0.4010669770413244],[0.45242018224792135,-0.3010669770298868]]},{"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_8","position":[0.702557938768408,-2.092855071067188,0.71338606911949],"aabb_xy":[[0.6964633108802897,-2.1014244656188565],[0.7086525666565263,-2.084285676515519]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.3782075761154897,0.9801663402183922,0.71338606911949],"aabb_xy":[[-0.43820757697630247,0.9287399102119058],[-0.31820757525467686,1.0315927702248784]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[-0.07034227474988652,0.3105417487449418,0.71338606911949],"aabb_xy":[[-0.07914433005885924,0.3027304225900127],[-0.06154021944091382,0.31835307489987086]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.442689206229699,1.5978762407275036,0.71338606911949],"aabb_xy":[[0.39488303861593027,1.5328762380204441],[0.4904953738434676,1.662876243434562]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.6260514143795783,-1.3490821369239299,0.71338606911949],"aabb_xy":[[0.5610514164979306,-1.4002058006304705],[0.6910514122612261,-1.2979584732173888]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[0.1545059416221234,-2.1624599848899813,0.71338606911949],"aabb_xy":[[0.099510463801464,-2.2174599863238877],[0.20950141944278278,-2.107459983456074]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[-0.1501043307231087,-0.04211383284479853,0.71338606911949],"aabb_xy":[[-0.20510433034485454,-0.09709752563227125],[-0.09510433110136285,0.012869859942674193]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[-0.3789333358081771,1.247855578452918,0.71338606911949],"aabb_xy":[[-0.4162646123334197,1.213202523658066],[-0.3416020592829345,1.2825086332477704]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.07756629577828533,-1.6222371203266368,0.71338606911949],"aabb_xy":[[-0.12753936131080082,-1.67223712013917],[-0.02759323024576988,-1.5722371205141041]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.21028141228060826,1.0517321459367768,0.71338606911949],"aabb_xy":[[0.14628141200663003,1.0016660457394888],[0.2742814125545865,1.1017982461340647]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.4710441982590139,-1.3584537952029034,0.71338606911949],"aabb_xy":[[0.44776235606088255,-1.4434537965001313],[0.49432604045714523,-1.2734537939056751]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[-0.443732984115141,0.2821821839065164,0.71338606911949],"aabb_xy":[[-0.4596174773804661,0.2678292436076923],[-0.4278484908498158,0.2965351242053404]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.33132271046169315,0.6774194521897376,0.71338606911949],"aabb_xy":[[0.3231081653460091,0.6687428618920962],[0.3395372555773771,0.6860960424873789]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.4397741155308802,-2.1884375108787064,0.71338606911949],"aabb_xy":[[-0.47423659354396797,-2.1951011880616287],[-0.4053116375177924,-2.1817738336957833]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[0.3623836346860052,1.3510733227975251,0.71338606911949],"aabb_xy":[[0.34488363540791833,1.3337352227311792],[0.3798836339640921,1.368411422863871]]}],"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":0.6511373677889966,"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/9407.png","name":"9407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9407.png","name":"9407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/993.png","name":"993"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4041.png","name":"4041"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6255.png","name":"6255"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6902.png","name":"6902"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":685.758555602877,"rotation_z_degrees":328.3199700488209,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007707417963980466,-0.013386340204765475,0.002077841302540486]},{"name":"camera_2","offset_m":[0.0012966077755056198,-0.006957192399923153,-0.010549648166341422]},{"name":"camera_3","offset_m":[0.013931833806668747,0.002852089586391212,-0.01853750054011411]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001957300905977321,-0.0011562198943761356,-0.0006920259316469345],"end_effector_yaw_offset_degrees":-0.13436734498378478},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00019028695790326887,0.0016892468114384617,-0.0009884471445850398],"end_effector_yaw_offset_degrees":-0.028426791211951796},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008999094566240779,0.0009578651922433944,-0.0019611303200455284],"end_effector_yaw_offset_degrees":-0.9575580021839634}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007807642994020923,-0.003740087535375825],"position_m":[0.2175192357005979,0.2634599124646242,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018576293369422783,0.0013732996086398882],"position_m":[0.21995762933694227,-0.3540267003913601,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016698904836924024,0.0043307135527598335],"position_m":[0.31503010951630755,-0.05486928644724017,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002412157313428963,0.002769370721422715],"position_m":[0.35891215731342896,0.1686693707214227,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4f6ee7b3834efa5f82fd084840165d9b8f2e6ecc7ea4c1c1ef631fe88252d507","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0001.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9407/tex_ceiling_textures_6902/tex_floor_textures_6255/tex_table_textures_993/tex_wall_textures_4041","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6417338130643975400,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6417338130643975400,"visual_seed":6417338130643975400,"scene_id":"lab_003","finished_at":"2026-09-04T15:50:57"} +{"episode_id":"ep_000002","started_at":"2026-09-04T15:51:00","dimensions":{"distractor":{"count":26,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[0.2574419546178256,1.283455093069986,0.71338606911949],"aabb_xy":[[0.17371972911774308,1.19345508953529],[0.341164180117908,1.373455096604682]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[0.6363571506473096,0.7367134842765162,0.71338606911949],"aabb_xy":[[0.6118435265503038,0.7124488909744798],[0.6608707747443155,0.7609780775785527]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[-0.37402591967255117,1.4997302780540323,0.71338606911949],"aabb_xy":[[-0.43902591822962406,1.4699777446401499],[-0.3090259211154784,1.529482811467915]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[0.25472154813268966,-0.9316155271841651,0.71338606911949],"aabb_xy":[[0.21722154734069415,-0.9379833681423552],[0.29222154892468505,-0.925247686225975]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[-0.524152052123789,-0.882954151557708,0.71338606911949],"aabb_xy":[[-0.5616520520675554,-0.8912472415925445],[-0.4866520521800226,-0.8746610615228714]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[0.5502091007061285,-0.6497304184148394,0.71338606911949],"aabb_xy":[[0.4702090985433659,-0.729685602040983],[0.6302091028688909,-0.5697752347886957]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.5125728265292312,0.27431136630326636,0.71338606911949],"aabb_xy":[[-0.5765728238315776,0.2299449393354096],[-0.4485728292268848,0.3186777932711231]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.27372389230446137,-1.0884786207546266,0.71338606911949],"aabb_xy":[[-0.32372389188079614,-1.1384591997067326],[-0.2237238927281267,-1.0384980418025207]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[-0.21948008194201468,-1.5901699961087772,0.71338606911949],"aabb_xy":[[-0.2616644961028454,-1.6541699963859886],[-0.17729566778118394,-1.5261699958315662]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.6445077511639646,0.7346642122518583,0.71338606911949],"aabb_xy":[[-0.6820077526795963,0.7234374392357131],[-0.6070077496483329,0.7458909852680032]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.19414072874983002,0.90085190243235,0.71338606911949],"aabb_xy":[[-0.21603047633877082,0.8108519051431008],[-0.17225098116088922,0.990851899721599]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.13287408060472827,-1.447294300431979,0.71338606911949],"aabb_xy":[[-0.20287408220700778,-1.4607270936336365],[-0.06287407900244882,-1.4338615072303214]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.05744363577129308,1.4202259600286333,0.71338606911949],"aabb_xy":[[-0.11145923205319308,1.356225957136376],[-0.0034280394893930685,1.4842259629208903]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[0.5277085815914622,1.4049737459404508,0.71338606911949],"aabb_xy":[[0.5183615740091669,1.390670123722807],[0.5370555891737574,1.419277368158095]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.42025268469221577,0.6212904028535693,0.71338606911949],"aabb_xy":[[-0.4311042909410914,0.6104311121259183],[-0.40940107844334017,0.6321496935812203]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.18096859170037938,-0.6067745505177327,0.71338606911949],"aabb_xy":[[-0.21474415089107232,-0.6208130457308977],[-0.14719303250968638,-0.5927360553045676]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.6163892982553462,1.650405321177281,0.71338606911949],"aabb_xy":[[-0.6534234076834059,1.6160281138435713],[-0.5793551888272864,1.68478252851099]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[-0.2725640202732523,-1.4485570776139087,0.71338606911949],"aabb_xy":[[-0.28297557895373604,-1.453902810949807],[-0.2621524615927686,-1.4432113442780101]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.4258870356352489,-0.21816523834120893,0.71338606911949],"aabb_xy":[[0.3618870335855169,-0.2582597214305169],[0.4898870376849809,-0.17807075525190097]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.30836330077739027,0.37311305320155697,0.71338606911949],"aabb_xy":[[0.27086330067179726,0.36629089134857584],[0.34586330088298317,0.3799352150545381]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.13488595413631987,-2.2368482978370854,0.71338606911949],"aabb_xy":[[-0.1428092343750682,-2.2593482980750887],[-0.12696267389757154,-2.214348297599082]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[-0.43437799142493183,0.10761150999154356,0.71338606911949],"aabb_xy":[[-0.5043779948164937,0.07229573628811271],[-0.36437798803336985,0.14292728369497443]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[-0.5619320253860705,-1.3657897316429177,0.71338606911949],"aabb_xy":[[-0.5762664505122339,-1.3778499471974566],[-0.547597600259907,-1.3537295160883789]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.3264337067096788,-1.9523677835008733,0.71338606911949],"aabb_xy":[[-0.3377954413629649,-1.9637362499071611],[-0.3150719720563926,-1.940999317094585]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[0.17397691045057184,-1.1183776419635776,0.71338606911949],"aabb_xy":[[0.1099769100730382,-1.1681229088143898],[0.23797691082810543,-1.0686323751127653]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[0.0034455762022193026,-2.4236910785436936,0.71338606911949],"aabb_xy":[[-0.011197829351813682,-2.4383497982004774],[0.018088981756252287,-2.409032358886909]]}],"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":0.6498116762691163,"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/5673.png","name":"5673"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5673.png","name":"5673"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4178.png","name":"4178"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3619.png","name":"3619"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7521.png","name":"7521"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2407.png","name":"2407"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":647.031782939782,"rotation_z_degrees":125.28557495303676,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0035129274622852057,-0.01428253026988482,0.01605457683559464]},{"name":"camera_2","offset_m":[-0.009357393375710213,-0.012453829478347087,0.01227717822457879]},{"name":"camera_3","offset_m":[0.016342620949019924,-0.0061651463249586674,0.015675695889682362]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015983636693432594,0.0016995382175542585,-0.001410274343406444],"end_effector_yaw_offset_degrees":-0.7083376784009114},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006292100212021748,0.00018221449766218012,-0.0014756647529635047],"end_effector_yaw_offset_degrees":0.7905282363123098},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014176429557842165,-0.0005561592676725567,0.0014397705825659603],"end_effector_yaw_offset_degrees":0.975990024512748}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003943141415995242,0.004155387783769659],"position_m":[0.21435685858400474,0.27135538778376966,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006243831664178769,-0.0033679650507286497],"position_m":[0.21872438316641787,-0.35876796505072867,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028991593642482072,0.002036856815471255],"position_m":[0.3195991593642482,-0.057163143184528746,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004794186584582338,0.003485939481253502],"position_m":[0.3569794186584582,0.1693859394812535,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"af32ef20fda5f01656de54c9cdabbebd1e1169b7f11a4464497893f28d866cf9","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5673/tex_ceiling_textures_2407/tex_floor_textures_7521/tex_table_textures_4178/tex_wall_textures_3619","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1255456553826636318,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1255456553826636318,"visual_seed":1255456553826636318,"scene_id":"lab_003","finished_at":"2026-09-04T15:53:50"} +{"episode_id":"ep_000003","started_at":"2026-09-04T15:53:54","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[-0.32342693555313357,-1.838914051972395,0.71338606911949],"aabb_xy":[[-0.38842693665907685,-1.8638794250405233],[-0.2584269344471903,-1.8139486789042667]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.4728480860505046,-0.5375373169321813,0.71338606911949],"aabb_xy":[[-0.5141526291142406,-0.6015373165002983],[-0.4315435429867686,-0.4735373173640641]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.14266286491348812,0.8620545977053484,0.71338606911949],"aabb_xy":[[-0.17050790169409527,0.8312700989670367],[-0.11481782813288102,0.8928390964436601]]},{"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_3","position":[-0.40369357396614397,1.5138185500643284,0.71338606911949],"aabb_xy":[[-0.42156268172059946,1.4999856420871174],[-0.3858244662116885,1.5276514580415395]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.42889089070821473,-2.244420333957628,0.71338606911949],"aabb_xy":[[-0.474169505589364,-2.3084203333058118],[-0.3836122758270655,-2.1804203346094444]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[0.011697146143047288,1.2407341297268082,0.71338606911949],"aabb_xy":[[-0.012849069479703431,1.210485233177771],[0.036243361765798,1.270983026275845]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.41614751014996276,-0.38056509954512885,0.71338606911949],"aabb_xy":[[-0.466130460337442,-0.43056509918768915],[-0.3661645599624833,-0.3305650999025683]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[-0.08019126435646229,-0.9458412184288083,0.71338606911949],"aabb_xy":[[-0.14419126764617038,-0.9891761374327258],[-0.016191261066754167,-0.9025062994248906]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.2425039316374104,0.7870009593709568,0.71338606911949],"aabb_xy":[[-0.26501762346086766,0.7170009587699493],[-0.21999023981395324,0.8570009599719643]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[-0.08466234777209125,1.5831255197670955,0.71338606911949],"aabb_xy":[[-0.12965493449054166,1.5381255204926467],[-0.03966976105364084,1.6281255190415442]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[0.3806882783961947,1.4888370315666744,0.71338606911949],"aabb_xy":[[0.36558597693517647,1.473735509935612],[0.39579057985721267,1.5039385531977358]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.669152452182708,-1.9106249314474177,0.71338606911949],"aabb_xy":[[-0.6929886698233131,-2.0006249322559047],[-0.645316234542103,-1.8206249306389317]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.4009081172669897,-0.7130347522280223,0.71338606911949],"aabb_xy":[[0.36340811884358926,-0.7261989661958529],[0.43840811569038995,-0.6998705382601916]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[-0.6175380759849173,-0.5911677495336587,0.71338606911949],"aabb_xy":[[-0.6479361870840608,-0.6215746515353281],[-0.5871399648857736,-0.5607608475319891]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[0.29253351643790093,-1.3759231173085105,0.71338606911949],"aabb_xy":[[0.25753351816778103,-1.3829972450034986],[0.32753351470802083,-1.3688489896135223]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.589447505539088,-0.30018110245853835,0.71338606911949],"aabb_xy":[[0.5394742115358275,-0.35018110301308564],[0.6394207995423484,-0.25018110190399095]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[-0.34303175174255107,0.5559211700614641,0.71338606911949],"aabb_xy":[[-0.3479877719274323,0.5334211698593426],[-0.33807573155766996,0.5784211702635859]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[0.08183941112752113,-1.9597719985727906,0.71338606911949],"aabb_xy":[[0.07303735581854841,-1.9675833247277197],[0.09064146643649383,-1.9519606724178615]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.5564300047814776,-2.3588219394172585,0.71338606911949],"aabb_xy":[[0.5064569392489622,-2.4088219392297914],[0.6064030703139931,-2.3088219396047256]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.4507396677175872,-1.6638489314722669,0.71338606911949],"aabb_xy":[[0.4331068321240597,-1.6814718774878896],[0.46837250331111485,-1.6462259854566437]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.522222132743853,1.6391826797779188,0.71338606911949],"aabb_xy":[[0.49107521390026976,1.5691826810911116],[0.553369051587436,1.709182678464726]]}],"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":0.6465745050395099,"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/1474.png","name":"1474"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1474.png","name":"1474"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4517.png","name":"4517"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4829.png","name":"4829"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6727.png","name":"6727"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9524.png","name":"9524"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":677.204154775214,"rotation_z_degrees":137.82445190635158,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008091191827145697,-0.014099886948223731,0.0008067724687197304]},{"name":"camera_2","offset_m":[0.018219932005467118,0.0005993461418036111,-0.011497259673915728]},{"name":"camera_3","offset_m":[0.012716890415083431,0.01666842085695894,0.018755045552923743]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00027697377096345434,-0.0012782370578912948,-0.0005056274976990233],"end_effector_yaw_offset_degrees":0.08606866996456963},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018190551987199606,0.0005001595464280651,-0.0013967443284481572],"end_effector_yaw_offset_degrees":-0.031007466513234716},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018654196828170196,0.0013638306310120771,0.0002806887279848077],"end_effector_yaw_offset_degrees":0.6144146070061791}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004268993696953024,0.0008880913473852236],"position_m":[0.22256899369695302,0.2680880913473852,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015054265956087817,0.004158089870597947],"position_m":[0.21960542659560878,-0.35124191012940204,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004355371921059103,0.00016185592125889884],"position_m":[0.3210553719210591,-0.059038144078741105,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017968716387148686,0.000847049683153165],"position_m":[0.3547031283612851,0.16674704968315315,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c337464f123580f2618bcca0a8a7f6c6118369c1027d67d77ae2927d59a6444a","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0003.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1474/tex_ceiling_textures_9524/tex_floor_textures_6727/tex_table_textures_4517/tex_wall_textures_4829","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3501003472447145599,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3501003472447145599,"visual_seed":3501003472447145599,"scene_id":"lab_003","finished_at":"2026-09-04T15:56:50"} +{"episode_id":"ep_000004","started_at":"2026-09-04T15:56:54","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.19924730952910785,-1.9175202808292242,0.71338606911949],"aabb_xy":[[-0.23424730942512673,-1.9258945163411636],[-0.16424730963308898,-1.909146045317284]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[0.5812795343102022,0.24545985300704798,0.71338606911949],"aabb_xy":[[0.5759419586441977,0.22045985207790822],[0.5866171099762069,0.27045985393618777]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[0.20518100158652064,1.639984450953698,0.71338606911949],"aabb_xy":[[0.18768100245215347,1.6301048239161102],[0.2226810007208878,1.6498640779912859]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[-0.3532032447485801,1.7097263464323977,0.71338606911949],"aabb_xy":[[-0.3757032447587284,1.6956301267927945],[-0.3307032447384318,1.723822566072001]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.27430895296642777,-0.7349519351141092,0.71338606911949],"aabb_xy":[[0.18930895427435307,-0.766937798508988],[0.35930895165850235,-0.7029660717192303]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[0.6403328021859154,0.6882572614198978,0.71338606911949],"aabb_xy":[[0.6028328015213366,0.6725702034196755],[0.677832802850494,0.7039443194201199]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[0.6430854839578966,-1.668230977037795,0.71338606911949],"aabb_xy":[[0.5930854853119754,-1.7181505206972572],[0.6930854826038177,-1.6183114333783324]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[-0.5731336224467446,-2.515989554340336,0.71338606911949],"aabb_xy":[[-0.5930246623270848,-2.5286453656250334],[-0.5532425825664044,-2.5033337430556397]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.15372973137839574,0.6811177115125919,0.71338606911949],"aabb_xy":[[0.09213897215440292,0.6171177134035453],[0.21532049060238856,0.745117709621639]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[0.5395858362834247,-0.3056630254491144,0.71338606911949],"aabb_xy":[[0.5022545597581821,-0.3403160802439667],[0.5769171128086673,-0.2710099706542621]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[0.13837611790519533,1.2425840135158652,0.71338606911949],"aabb_xy":[[0.08849342102749914,1.1925840142695905],[0.18825881478289158,1.29258401276214]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.17446784089566136,-2.35412273426157,0.71338606911949],"aabb_xy":[[0.1707645795665225,-2.3578247525702873],[0.17817110222480023,-2.350420715952852]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[-0.4854886242959574,-2.2774227390564965,0.71338606911949],"aabb_xy":[[-0.5654886213102054,-2.2975572907299076],[-0.4054886272817094,-2.2572881873830846]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[0.3029714319543406,-1.263439089362058,0.71338606911949],"aabb_xy":[[0.25349101074038183,-1.3274390872749098],[0.3524518531682994,-1.1994390914492061]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[0.35332921153236674,0.45321795646963503,0.71338606911949],"aabb_xy":[[0.2893292123625968,0.4064512693506726],[0.4173292107021367,0.49998464358859757]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.4205908601121029,-2.377354293047071,0.71338606911949],"aabb_xy":[[-0.4352342656661358,-2.3920130127038552],[-0.40594745455806985,-2.362695573390287]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.429653362929868,1.5669260472207118,0.71338606911949],"aabb_xy":[[0.3796533625693019,1.5169460600111087],[0.479653363290434,1.6169060344303146]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[-0.471114336252482,-1.3444110514707517,0.71338606911949],"aabb_xy":[[-0.4886610311686009,-1.381911053035003],[-0.453567641336363,-1.3069110499065004]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.1420395375906378,-2.1889405518111706,0.71338606911949],"aabb_xy":[[-0.20603953470274353,-2.2379729216055813],[-0.07803954047853215,-2.13990818201676]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[-0.19104250011806967,-0.18781266065060098,0.71338606911949],"aabb_xy":[[-0.22604250009456553,-0.1972772766982176],[-0.15604250014157386,-0.17834804460298437]]}],"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":0.6490827624691671,"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/3804.png","name":"3804"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3804.png","name":"3804"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/627.png","name":"627"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1167.png","name":"1167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7547.png","name":"7547"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8836.png","name":"8836"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":580.7732704790612,"rotation_z_degrees":170.99456777313293,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014058265122378458,0.002539805652331358,-0.007231523838135611]},{"name":"camera_2","offset_m":[-0.0007524411538052216,0.0021005614021377995,-0.018186826295053856]},{"name":"camera_3","offset_m":[0.019965024763924418,0.013393850358727043,-0.0046928068214165414]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008257178071143176,0.0016514243180089298,-6.268615590235608e-05],"end_effector_yaw_offset_degrees":-0.5358200664147823},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001540184507313549,0.0002755997910239608,0.0015759672630436894],"end_effector_yaw_offset_degrees":0.9659628885924874},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011703080005788635,-0.000991865314520215,-0.00044910212728330873],"end_effector_yaw_offset_degrees":0.5987514849558568}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002710925104125873,-0.004153778560575243],"position_m":[0.21558907489587412,0.26304622143942474,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005177938868259624,-0.0013142482102250562],"position_m":[0.21758220611317403,-0.35671424821022507,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0025926895249683687,-0.0033908014477913332],"position_m":[0.31929268952496836,-0.06259080144779133,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00024147856009610127,0.002929908897968874],"position_m":[0.3567414785600961,0.16882990889796887,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fd28f97964904a3e18d3e354000bca5df74013a7b10820bb0abc27e8bcb22006","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3804/tex_ceiling_textures_8836/tex_floor_textures_7547/tex_table_textures_627/tex_wall_textures_1167","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6098775159351666711,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6098775159351666711,"visual_seed":6098775159351666711,"scene_id":"lab_003","finished_at":"2026-09-04T16:00:03"} +{"episode_id":"ep_000005","started_at":"2026-09-04T16:00:07","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.424860778912608,0.4816493928665633,0.71338606911949],"aabb_xy":[[0.4168244442113231,0.4736112735621465],[0.43289711361389277,0.48968751217098005]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[-0.5259772216946101,-1.4570962077059415,0.71338606911949],"aabb_xy":[[-0.6159772184302204,-1.510279671023236],[-0.43597722495899993,-1.403912744388647]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.5819193762976418,-2.4834774101377355,0.71338606911949],"aabb_xy":[[-0.5889596862311789,-2.5634774095374073],[-0.5748790663641049,-2.4034774107380645]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[0.627390031891655,-1.8524498073710083,0.71338606911949],"aabb_xy":[[0.6233118739846053,-1.8565307876192714],[0.6314681897987047,-1.8483688271227448]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[-0.5819646401042183,-1.0203947994428824,0.71338606911949],"aabb_xy":[[-0.6020230517174586,-1.0404598863520398],[-0.561906228490978,-1.0003297125337245]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[0.05958085963791049,1.255825158660898,0.71338606911949],"aabb_xy":[[0.0370808596277622,1.2417289390212947],[0.08208085964805878,1.2699213783005012]]},{"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_6","position":[-0.21947330029900802,-0.2668686529170117,0.71338606911949],"aabb_xy":[[-0.30447329871643125,-0.35174294837929665],[-0.1344733018815848,-0.1819943574547267]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[0.08110368791618172,-1.8924476730490112,0.71338606911949],"aabb_xy":[[0.05860368767266631,-1.9046523077087834],[0.1036036881596971,-1.8802430383892395]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.5881833369094744,0.41673082635803205,0.71338606911949],"aabb_xy":[[0.5747368102754311,0.40326097470494077],[0.6016298635435178,0.4302006780111232]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.19506336498071453,-2.2095265191132545,0.71338606911949],"aabb_xy":[[0.1334726057567217,-2.273526517222302],[0.25665412420470735,-2.145526521004208]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.4616526362612876,0.2919094104506512,0.71338606911949],"aabb_xy":[[0.4441526360019511,0.27781786826187865],[0.47915263652062434,0.3060009526394239]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[0.19629048334053245,1.1493510311530235,0.71338606911949],"aabb_xy":[[0.13229048129080045,1.1092565480637155],[0.26029048539026445,1.1894455142423315]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[-0.440315877202834,-0.22297124410690827,0.71338606911949],"aabb_xy":[[-0.4639010006667289,-0.28797124635234006],[-0.4167307537389392,-0.15797124186147649]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.19410329284874817,0.8712324016645403,0.71338606911949],"aabb_xy":[[-0.249103292470494,0.8162487088770677],[-0.13910329322700232,0.9262160944520131]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[-0.05161436647908835,-1.0647597427312703,0.71338606911949],"aabb_xy":[[-0.07616058210183907,-1.0950086392803073],[-0.02706815085633763,-1.0345108461822332]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.06398447837058563,1.204831853403268,0.71338606911949],"aabb_xy":[[-0.0790867798316037,1.1897303317722057],[-0.04888217690956751,1.2199333750343295]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[-0.3834268448117977,0.024734657472590182,0.71338606911949],"aabb_xy":[[-0.38713010614093657,0.02103263916387232],[-0.3797235834826588,0.028436675781308037]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.1350994361758311,-2.0672296646058763,0.71338606911949],"aabb_xy":[[0.10263773529390362,-2.097362496720778],[0.16756113705775852,-2.037096832490972]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.6018339260476534,-0.08857989007444678,0.71338606911949],"aabb_xy":[[-0.6352741012436729,-0.12202351590537683],[-0.5683937508516337,-0.055136264243516676]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.22918515879300577,-0.42108689030749247,0.71338606911949],"aabb_xy":[[-0.24668515792737292,-0.4309665173450803],[-0.21168515965863857,-0.41120726326990464]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.4593154058753819,-1.3422384097616393,0.71338606911949],"aabb_xy":[[0.39431540584107916,-1.3889390864419666],[0.5243154059096846,-1.295537733081312]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[0.4411034271870471,1.3694537062675929,0.71338606911949],"aabb_xy":[[0.43238945813711255,1.3469537056084044],[0.4498173962369815,1.3919537069267809]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[0.2537447523870977,-0.7204598319807318,0.71338606911949],"aabb_xy":[[0.18874475423117865,-0.746756076530644],[0.31874475054301676,-0.6941635874308196]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[-0.11863398259448399,1.4592944036472537,0.71338606911949],"aabb_xy":[[-0.1561339832590627,1.4436073456470313],[-0.08113398192990529,1.4749814616474757]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.586872417405442,1.441329126032366,0.71338606911949],"aabb_xy":[[0.5168724140138801,1.406013352328935],[0.656872420797004,1.4766448997357968]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[0.06774964209643886,-2.468875368112514,0.71338606911949],"aabb_xy":[[0.05031892701743234,-2.486147482776364],[0.08518035717544535,-2.451603253448663]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[-0.5349872029538346,0.8144659470784017,0.71338606911949],"aabb_xy":[[-0.5849660114641505,0.764465947072683],[-0.48500839444351873,0.8644659470841206]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[0.498217528544431,-1.6960136705008364,0.71338606911949],"aabb_xy":[[0.4432220507237715,-1.751013671934743],[0.5532130063650903,-1.6410136690669292]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[0.572525983872308,1.583241190642831,0.71338606911949],"aabb_xy":[[0.5581915587461447,1.5711809750882921],[0.5868604089984716,1.5953014061973698]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_29","position":[0.5254551111492121,-2.1284842358868414,0.71338606911949],"aabb_xy":[[0.5102829418675787,-2.1436530928150455],[0.5406272804308454,-2.1133153789586383]]},{"name":"lh_cell_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_30","position":[0.39378476604358204,-2.2446665552727207,0.71338606911949],"aabb_xy":[[0.32978476534011275,-2.2906849377456426],[0.4577847667470515,-2.1986481727998006]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_31","position":[-0.5150362164788843,1.087306192265935,0.71338606911949],"aabb_xy":[[-0.5372087434555352,1.0651305251098118],[-0.49286368950223347,1.109481859422058]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_32","position":[0.29199765141248535,0.6963087462785142,0.71338606911949],"aabb_xy":[[0.2878817013004126,0.6921931912456687],[0.2961136015245579,0.7004243013113598]]}],"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":0.6516986864607328,"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/8630.png","name":"8630"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8630.png","name":"8630"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6840.png","name":"6840"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/813.png","name":"813"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/788.png","name":"788"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5976.png","name":"5976"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":652.9576936058875,"rotation_z_degrees":309.349903227238,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014175914223869742,0.0195222846137337,0.0028095076338167622]},{"name":"camera_2","offset_m":[0.0010868996308934925,0.004673873063502924,-0.016421393719371413]},{"name":"camera_3","offset_m":[-0.0010792380015026345,0.005324129762733797,-0.014166231728759296]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014246021254055723,-0.0016257442362764417,-0.0010263112066444028],"end_effector_yaw_offset_degrees":0.9916206260574645},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005490473922488311,0.0017581784848498135,2.0233425985366482e-06],"end_effector_yaw_offset_degrees":-0.9312613016498623},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[5.3926848856001696e-05,0.0006704080467374762,0.0017544442449928936],"end_effector_yaw_offset_degrees":0.37361936730282164}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0025620361014489124,0.0033864239500477787],"position_m":[0.21573796389855107,0.2705864239500478,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001619695282952667,0.0009217972044406088],"position_m":[0.21648030471704732,-0.35447820279555936,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022585167730948654,-0.001708940284963648],"position_m":[0.3144414832269051,-0.06090894028496365,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004163751276827829,-0.0016611579817127453],"position_m":[0.3606637512768278,0.16423884201828726,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"572aba192372a8bef77a207a6ad9d56d658b40f0e680c8be28c76d8f9b5f7e99","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8630/tex_ceiling_textures_5976/tex_floor_textures_788/tex_table_textures_6840/tex_wall_textures_813","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1236253869592917345,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1236253869592917345,"visual_seed":1236253869592917345,"scene_id":"lab_003","finished_at":"2026-09-04T16:02:59"} +{"episode_id":"ep_000006","started_at":"2026-09-04T16:03:02","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[0.6034844054296247,0.11489505797679644,0.71338606911949],"aabb_xy":[[0.5484844062530351,0.05990538320183879],[0.658484404606214,0.1698847327517541]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.3514095933149586,-2.469592786123872,0.71338606911949],"aabb_xy":[[0.2874095916369613,-2.5181101776031856],[0.415409594992956,-2.421075394644557]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[-0.3985262658816937,0.4168660427263524,0.71338606911949],"aabb_xy":[[-0.40651975567697585,0.40886791078587686],[-0.3905327760864118,0.4248641746668282]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[-0.047116684649690876,-2.5290147349249117,0.71338606911949],"aabb_xy":[[-0.10711668629261273,-2.5810148842168554],[0.012883316993230969,-2.477014585632967]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.6087588985564291,0.5167319068851848,0.71338606911949],"aabb_xy":[[-0.6887589007191914,0.43677672325904116],[-0.5287588963936665,0.5966870905113284]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[0.044701728466943536,0.7623141608896224,0.71338606911949],"aabb_xy":[[-0.0053957355141300775,0.6983141603798106],[0.09479919244801716,0.8263141613994343]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.14175992799103143,0.3950962957778619,0.71338606911949],"aabb_xy":[[-0.17925992793479784,0.3868032057430253],[-0.10425992804726503,0.40338938581269845]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.06564422294735339,-1.6197849447341108,0.71338606911949],"aabb_xy":[[0.05130979782118994,-1.6318451602886497],[0.07997864807351684,-1.607724729179572]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[-0.16380136834057546,1.2159170986034065,0.71338606911949],"aabb_xy":[[-0.17421292702105914,1.2105713652675079],[-0.15338980966009172,1.2212628319393046]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.20796565738507233,-2.5167317305522423,0.71338606911949],"aabb_xy":[[0.19993938675444634,-2.5254832255295954],[0.21599192801569833,-2.50798023557489]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.20892080808572316,1.3506597283083086,0.71338606911949],"aabb_xy":[[-0.24577135602271077,1.3131597274852747],[-0.17207026014873555,1.3881597291313421]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[0.49675897496136434,-1.848844429104781,0.71338606911949],"aabb_xy":[[0.43275897458383067,-1.898589695955593],[0.560758975338898,-1.7990991622539685]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[-0.4220641713343272,1.0515294384137581,0.71338606911949],"aabb_xy":[[-0.42690776609555725,1.0466777859347742],[-0.4172205765730973,1.0563810908927425]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.5804922323129011,-0.4959605520783339,0.71338606911949],"aabb_xy":[[0.5716901770039283,-0.503771878233263],[0.5892942876218737,-0.4881492259234048]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.45444811795756657,-0.5993691438509765,0.71338606911949],"aabb_xy":[[-0.4652997242064422,-0.6102284345786275],[-0.443596511708691,-0.5885098531233255]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.4138983305179301,-1.4453532034979832,0.71338606911949],"aabb_xy":[[-0.4226795576651664,-1.4541329507865137],[-0.40511710337069395,-1.4365734562094532]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.49778508792330944,-0.8362577729056422,0.71338606911949],"aabb_xy":[[0.40809801161519405,-0.9262577731600927],[0.5874721642314249,-0.7462577726511916]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[-0.05128827377070566,-1.114729792058302,0.71338606911949],"aabb_xy":[[-0.1312882723580251,-1.1940453939964626],[0.028711724816613753,-1.0354141901201408]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.5836013373406981,-0.9955156195314052,0.71338606911949],"aabb_xy":[[-0.624619280727069,-1.0455156201623625],[-0.5425833939543272,-0.9455156189004479]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[0.14709268198716519,1.001725606364118,0.71338606911949],"aabb_xy":[[0.08309268007482284,0.9458144571061078],[0.21109268389950753,1.0576367556221287]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[-0.3300296855748787,-0.44097521457834965,0.71338606911949],"aabb_xy":[[-0.3550296847405118,-0.4479274602837063],[-0.30502968640924555,-0.43402296887299313]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[-0.6081777804718543,-1.9677386363597646,0.71338606911949],"aabb_xy":[[-0.6581607306593336,-2.017738636002325],[-0.5581948302843749,-1.9177386367172042]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[-0.3697538816735946,-0.07542453672824934,0.71338606911949],"aabb_xy":[[-0.38795970533484225,-0.08644993731024098],[-0.3515480580123469,-0.0643991361462577]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.5638864188318116,0.7754268058471414,0.71338606911949],"aabb_xy":[[-0.5901752431522521,0.7491553721924902],[-0.5375975945113708,0.8016982395017926]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[-0.19065678442638634,1.7082047033164458,0.71338606911949],"aabb_xy":[[-0.19870014435234148,1.6232047022210794],[-0.18261342450043114,1.7932047044118122]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[-0.06611527972243014,-0.22403460377358764,0.71338606911949],"aabb_xy":[[-0.11392144733619879,-0.2890346064806466],[-0.018309112108661495,-0.15903460106652867]]},{"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_26","position":[-0.6855892553795035,0.12377157185248278,0.71338606911949],"aabb_xy":[[-0.694287217670219,0.11164659754500807],[-0.6768912930887884,0.1358965461599575]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_27","position":[-0.325651212676409,1.5215687467827714,0.71338606911949],"aabb_xy":[[-0.38965121408439973,1.4697797952588465],[-0.2616512112684184,1.573357698306696]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_28","position":[0.262118494078428,-1.4799014158660875,0.71338606911949],"aabb_xy":[[0.2171259073599776,-1.5249014151405362],[0.30711108079687843,-1.4349014165916387]]}],"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":0.6488202387717493,"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/3284.png","name":"3284"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3284.png","name":"3284"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2628.png","name":"2628"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7420.png","name":"7420"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/575.png","name":"575"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/879.png","name":"879"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":694.0844684096292,"rotation_z_degrees":173.70116954767772,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011057856725105411,0.00019863172566494947,-0.010220149656342806]},{"name":"camera_2","offset_m":[-0.018867169529913148,-0.010465036585892689,0.017518110622321486]},{"name":"camera_3","offset_m":[-0.017995406508548195,-0.013995886595692935,0.019031537078655746]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015015120328207795,0.001090415773834908,-8.797050764383272e-05],"end_effector_yaw_offset_degrees":-0.48727785871009854},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009210782426354359,0.00016314493933900593,-8.318926297184157e-05],"end_effector_yaw_offset_degrees":0.20518816073979163},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016896884821209265,-0.0009517101278714061,0.0013982077777247985],"end_effector_yaw_offset_degrees":-0.5960347590717125}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034085490032897815,-0.002221016994131044],"position_m":[0.21489145099671023,0.264978983005869,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001984333293389714,0.0005034801674637128],"position_m":[0.2200843332933897,-0.3548965198325363,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005249523406984933,0.00017508416280131566],"position_m":[0.3172249523406985,-0.05902491583719869,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00020397425022489115,-0.002410316884122622],"position_m":[0.3562960257497751,0.16348968311587736,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b5c3b2863fac83f3158b85826c9f173c4648f2154953b993586011688f809c3c","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3284/tex_ceiling_textures_879/tex_floor_textures_575/tex_table_textures_2628/tex_wall_textures_7420","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":836225734926205832,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":836225734926205832,"visual_seed":836225734926205832,"scene_id":"lab_003","finished_at":"2026-09-04T16:06:03"} +{"episode_id":"ep_000007","started_at":"2026-09-04T16:06:06","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[-0.2481615180824861,1.4587353371141298,0.71338606911949],"aabb_xy":[[-0.2557857861726644,1.451102113577586],[-0.2405372499923079,1.4663685606506733]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.21403580739453743,-1.0166924102211075,0.71338606911949],"aabb_xy":[[0.1690358059283086,-1.0616922670825883],[0.2590358088607663,-0.971692553359627]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[0.546092450844379,1.4079021709597601,0.71338606911949],"aabb_xy":[[0.476092454434417,1.387464235308078],[0.6160924472543405,1.4283401066114414]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.658438031928515,0.2186576641403284,0.71338606911949],"aabb_xy":[[0.6171892208986003,0.16365766462811093],[0.6996868429584298,0.27365766365254585]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[-0.6617653777397197,-1.5304470646852746,0.71338606911949],"aabb_xy":[[-0.6658813278517922,-1.53456261971812],[-0.6576494276276469,-1.5263315096524288]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[0.5888836666158768,-2.19213170140581,0.71338606911949],"aabb_xy":[[0.53389045527874,-2.2471317017446037],[0.6438768779530135,-2.1371317010670166]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[-0.2860044798244592,0.1507665988410012,0.71338606911949],"aabb_xy":[[-0.3460044814673811,0.09876644954905703],[-0.2260044781815374,0.2027667481329454]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[0.542620859174803,-0.19310078191376556,0.71338606911949],"aabb_xy":[[0.497449541326634,-0.25710077905830403],[0.5877921770229719,-0.12910078476922718]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[-0.6394137140672195,-0.15386716618941598,0.71338606911949],"aabb_xy":[[-0.65642381135727,-0.17000165468768988],[-0.6224036167771687,-0.13773267769114203]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[-0.2552344333684127,-2.0440837623432677,0.71338606911949],"aabb_xy":[[-0.28307947014901985,-2.0748682610815794],[-0.2273893965878056,-2.013299263604956]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[-0.36917321639741013,1.3209928776826736,0.71338606911949],"aabb_xy":[[-0.4331732166578809,1.2759840783297454],[-0.30517321613693926,1.3660016770356014]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[0.372866469753248,-1.9650578197837112,0.71338606911949],"aabb_xy":[[0.35035277792979075,-2.035057820384718],[0.39538016157670514,-1.8950578191827032]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[0.6580039731334095,-0.03518091200884843,0.71338606911949],"aabb_xy":[[0.6080046979649734,-0.0851809132847956],[0.7080032483018457,0.01481908926709874]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.5407931690281135,1.4077834421995532,0.71338606911949],"aabb_xy":[[-0.5818111124144844,1.3577834415685959],[-0.4997752256417426,1.4577834428305105]]},{"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_14","position":[0.5658410464102195,1.1112949812161816,0.71338606911949],"aabb_xy":[[0.5565474281730689,1.0737949827280475],[0.5751346646473701,1.1487949797043153]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[0.0747684205684348,-1.3711835919611899,0.71338606911949],"aabb_xy":[[0.04611908820801856,-1.3998291512382657],[0.10341775292885101,-1.342538032684114]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.2713126493492595,-0.7883139684471261,0.71338606911949],"aabb_xy":[[-0.36131264794372947,-0.8045645547605471],[-0.18131265075478958,-0.7720633821337051]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.38564657548696957,-2.053898068849325,0.71338606911949],"aabb_xy":[[-0.43564657413289076,-2.1038176125087875],[-0.33564657684104837,-2.0039785251898627]]},{"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_18","position":[0.3486745087293077,-1.8176478242834122,0.71338606911949],"aabb_xy":[[0.33997654643859243,-1.829772798590887],[0.357372471020023,-1.8055228499759375]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[-0.25650290184497054,1.7422253550740536,0.71338606911949],"aabb_xy":[[-0.29213205774493034,1.7065926883172005],[-0.22087374594501086,1.7778580218309064]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.3085805123470733,-0.6662575409939944,0.71338606911949],"aabb_xy":[[0.2586072183438128,-0.7162575415485417],[0.3585538063503337,-0.616257540439447]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.2674762560951335,-2.1617868028610934,0.71338606911949],"aabb_xy":[[0.20347625879278702,-2.20615322982895],[0.3314762533974798,-2.1174203758932366]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[0.08487401422068974,-1.7083320428419317,0.71338606911949],"aabb_xy":[[0.020874012000282716,-1.75270512696722],[0.14887401644109677,-1.6639589587166435]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.20060052473335332,-1.3139148699284704,0.71338606911949],"aabb_xy":[[0.19018896605286958,-1.3192606032643688],[0.211012083413837,-1.308569136592572]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[-0.37614554556478663,1.119224853077045,0.71338606911949],"aabb_xy":[[-0.38172721719891534,1.1067248532592695],[-0.3705638739306578,1.1317248528948205]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_25","position":[0.1616448917509855,-2.01621009477347,0.71338606911949],"aabb_xy":[[0.11165177964179365,-2.0662100954476657],[0.21163800386017745,-1.9662100940992744]]},{"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_26","position":[0.3214434051732882,-1.5895503376928004,0.71338606911949],"aabb_xy":[[0.26381293628601726,-1.6495503366195106],[0.3790738740605589,-1.5295503387660894]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_27","position":[0.5298442471543541,-0.03914568056642187,0.71338606911949],"aabb_xy":[[0.5172415480172776,-0.05174107679128737],[0.5424469462914305,-0.02655028434155638]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_28","position":[-0.009767906881311017,-1.8595301746378947,0.71338606911949],"aabb_xy":[[-0.044767906777329884,-1.8679044101498348],[0.02523209301470785,-1.8511559391259547]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_29","position":[0.1566488258855292,-1.4401375075810081,0.71338606911949],"aabb_xy":[[0.1511908802485091,-1.520137510888667],[0.16210677152254924,-1.3601375042733488]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_30","position":[-0.18563738214234382,-1.104042573598261,0.71338606911949],"aabb_xy":[[-0.1957190892209173,-1.1840425714903755],[-0.17555567506377034,-1.0240425757061462]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[0.46430837528721214,-1.4484214271999243,0.71338606911949],"aabb_xy":[[0.3943083726506258,-1.4685262921957896],[0.5343083779237985,-1.4283165622040586]]}],"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":0.6507119687550225,"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/3202.png","name":"3202"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3202.png","name":"3202"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2736.png","name":"2736"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9542.png","name":"9542"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2763.png","name":"2763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4388.png","name":"4388"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":688.5777214902159,"rotation_z_degrees":265.32629475535595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014260408446563764,0.013181276201392433,-0.0012332629345906017]},{"name":"camera_2","offset_m":[-0.012720982863285137,0.0001408696410727349,0.01717819680688183]},{"name":"camera_3","offset_m":[0.018916911187114378,-0.013464095489907572,0.010843017159066829]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005747127723688924,0.0017828409383363738,-0.0004403556289986441],"end_effector_yaw_offset_degrees":0.2826013461363912},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00047746108737024883,-0.0016794809107419791,0.0006455557241856996],"end_effector_yaw_offset_degrees":0.967523255372553},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001527596539177821,0.000943209241322164,-0.0014640594947762965],"end_effector_yaw_offset_degrees":-0.8915700016936523}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0025173428309016323,-0.004406125581508006],"position_m":[0.21578265716909836,0.262793874418492,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027120710752117014,-0.0018377329406072417],"position_m":[0.2208120710752117,-0.35723773294060723,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016085099070230415,0.001264385506963477],"position_m":[0.31509149009297693,-0.057935614493036525,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-7.645381254792454e-05,-0.003658748676048932],"position_m":[0.35642354618745203,0.16224125132395106,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"89ce048be88b0b8b22c322a2b39905e4f1624187f73289a0433fa222f7cedbea","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3202/tex_ceiling_textures_4388/tex_floor_textures_2763/tex_table_textures_2736/tex_wall_textures_9542","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8249359977452743276,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8249359977452743276,"visual_seed":8249359977452743276,"scene_id":"lab_003","finished_at":"2026-09-04T16:08:57"} +{"episode_id":"ep_000008","started_at":"2026-09-04T16:09:01","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[-0.10078961550152998,-2.4787193374077647,0.71338606911949],"aabb_xy":[[-0.11746675149462549,-2.495419261381695],[-0.08411247950843448,-2.4620194134338345]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[-0.43965821585635,-2.460784217696281,0.71338606911949],"aabb_xy":[[-0.44455750816291345,-2.488461136998849],[-0.43475892354978646,-2.4331072983937116]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[0.35499922285000984,1.532695469939385,0.71338606911949],"aabb_xy":[[0.29099922247247617,1.4829502030885728],[0.4189992232275434,1.5824407367901974]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.6672029633296448,1.8127750524212325,0.71338606911949],"aabb_xy":[[0.6447029630861295,1.8005704177614605],[0.6897029635731603,1.8249796870810044]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.2685156252587494,0.4214092962451219,0.71338606911949],"aabb_xy":[[-0.3185156248350841,0.37142871729301596],[-0.21851562568241467,0.47138987519722786]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[0.17070378646456186,0.7190482680548307,0.71338606911949],"aabb_xy":[[0.16329133092317338,0.7131970576332027],[0.17811624200595033,0.7248994784764586]]},{"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_6","position":[-0.4239573373635796,-0.4650724067841163,0.71338606911949],"aabb_xy":[[-0.5089573357810029,-0.5499467022464013],[-0.33895733894615643,-0.3801981113218314]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.3554066737655024,-2.2526096542955694,0.71338606911949],"aabb_xy":[[0.3141021307017664,-2.3166096538636864],[0.3967112168292384,-2.1886096547274523]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.49464755727737464,0.1431243722157105,0.71338606911949],"aabb_xy":[[-0.5586475589553719,0.09460698073639628],[-0.43064755559937723,0.19164176369502472]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[-0.10287041985795409,-1.8087539425619403,0.71338606911949],"aabb_xy":[[-0.14037042064994953,-1.8151217835201305],[-0.06537041906595864,-1.8023861016037501]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[-0.4565179361258921,-1.8585069402130423,0.71338606911949],"aabb_xy":[[-0.48766485496947515,-1.9285069388998495],[-0.4253710172823089,-1.7885069415262351]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.614323359717265,-1.272412541456014,0.71338606911949],"aabb_xy":[[-0.6261954427287661,-1.3574125411496645],[-0.6024512767057639,-1.1874125417623638]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[0.4531449229118558,-2.084987497285231,0.71338606911949],"aabb_xy":[[0.430229210026806,-2.107891794421655],[0.4760606357969058,-2.062083200148808]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.48566315829369483,-0.06697796063907857,0.71338606911949],"aabb_xy":[[-0.5496631574634647,-0.11374464775804104],[-0.4216631591239249,-0.020211273520116087]]},{"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_14","position":[0.48897407871343224,0.35198554237986057,0.71338606911949],"aabb_xy":[[0.4530605742884425,0.316072034163106],[0.5248875831384219,0.38789905059661517]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.3199474700481999,-0.5347377356054723,0.71338606911949],"aabb_xy":[[0.2299474733125897,-0.5879211989227667],[0.4099474667838101,-0.4815542722881777]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.6016730200859867,0.8631538084721022,0.71338606911949],"aabb_xy":[[-0.6514897995508214,0.813153809987799],[-0.5518562406211519,0.9131538069564057]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[-0.5906176838140736,1.465561481792602,0.71338606911949],"aabb_xy":[[-0.6082505194076011,1.447938535776979],[-0.572984848220546,1.483184427808225]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[0.13882458660198638,0.6124760290644176,0.71338606911949],"aabb_xy":[[0.13418947144975293,0.6086086939872688],[0.1434597017542197,0.6163433641415661]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[-0.4667840178733097,0.3173543157157921,0.71338606911949],"aabb_xy":[[-0.5467840183435257,0.3090436081014437],[-0.38678401740309387,0.32566502333014047]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.195995874388463,-0.735973912453872,0.71338606911949],"aabb_xy":[[-0.2302927854062036,-0.7702707986638132],[-0.16169896337072234,-0.7016770262439306]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[-0.12940320710869302,1.124133458595192,0.71338606911949],"aabb_xy":[[-0.17940320877018773,1.0741350163394892],[-0.07940320544719821,1.1741319008508946]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[0.07721648967643868,1.6229596720153272,0.71338606911949],"aabb_xy":[[-0.0127835100467355,1.5998863194801471],[0.16721648939961284,1.6460330245505068]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[0.3593361681838325,-1.3436711236267014,0.71338606911949],"aabb_xy":[[0.29933616732301965,-1.3950975536331875],[0.41933616904464527,-1.2922446936202148]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[0.5207547262620771,-0.5287585875792651,0.71338606911949],"aabb_xy":[[0.49575472699011486,-0.5451039511754274],[0.5457547255340394,-0.5124132239831027]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[-0.16874665474704698,0.08645969650366236,0.71338606911949],"aabb_xy":[[-0.19124665456094936,0.08198508013318168],[-0.1462466549331446,0.09093431287414305]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_26","position":[0.3543460253181958,-1.8186127386841582,0.71338606911949],"aabb_xy":[[0.29434602506679464,-1.8728940637206226],[0.414346025569597,-1.7643314136476933]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[-0.3176893615598433,-1.3040638236090845,0.71338606911949],"aabb_xy":[[-0.355189361908071,-1.3158552191901678],[-0.2801893612116155,-1.2922724280280007]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[0.47872869300862786,1.7332022556516784,0.71338606911949],"aabb_xy":[[0.47461274289655514,1.7290867006188326],[0.48284464312070047,1.7373178106845237]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_29","position":[0.16286937195147022,-0.7026887157426052,0.71338606911949],"aabb_xy":[[0.1128905634411543,-0.7526887157483239],[0.21284818046178608,-0.6526887157368862]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[0.4629886711607709,-1.056543216510217,0.71338606911949],"aabb_xy":[[0.45506539092202253,-1.0790432167482205],[0.4709119513995192,-1.0340432162722137]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_31","position":[0.3815214730586789,-0.7772932314553929,0.71338606911949],"aabb_xy":[[0.33152836094948707,-0.8272932321295887],[0.4315145851678709,-0.7272932307811973]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_32","position":[0.33374069585715405,-0.9736742763320592,0.71338606911949],"aabb_xy":[[0.30026152859611316,-1.0071533897031664],[0.36721986311819504,-0.9401951629609523]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_33","position":[0.6522603282768502,-1.5895321268456408,0.71338606911949],"aabb_xy":[[0.639633540989654,-1.5990782005472135],[0.6648871155640467,-1.5799860531440677]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_34","position":[0.23917811575983638,-1.4706136282906843,0.71338606911949],"aabb_xy":[[0.21288929143939572,-1.4968850619453353],[0.26546694008027705,-1.4443421946360329]]}],"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":0.6466461616368916,"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/3810.png","name":"3810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3810.png","name":"3810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5571.png","name":"5571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/757.png","name":"757"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7615.png","name":"7615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5415.png","name":"5415"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":547.3169456238256,"rotation_z_degrees":293.2485331520482,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010812940658885044,0.016357646525073533,0.007693256944748018]},{"name":"camera_2","offset_m":[0.0034634924758247705,-0.002619139242035908,-0.01817680357662153]},{"name":"camera_3","offset_m":[0.0036629701631091423,0.013894252645130178,0.017671816906257642]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010405677989105118,0.0012880497754309923,0.001773698509205686],"end_effector_yaw_offset_degrees":0.2722338364236472},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00023079775070520116,0.0006698093086032601,-0.0018508788977681504],"end_effector_yaw_offset_degrees":-0.6086679040094798},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001352707204916061,9.626104860083412e-05,0.0005786448703653121],"end_effector_yaw_offset_degrees":-0.08001864023132499}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001174473002618923,-0.004142918077696133],"position_m":[0.2194744730026189,0.26305708192230387,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00021281142249355428,0.0017668888362610711],"position_m":[0.21831281142249354,-0.3536331111637389,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002063242734348522,0.00395663030772202],"position_m":[0.31876324273434853,-0.055243369692277985,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026968451571017017,0.004325406742902059],"position_m":[0.35380315484289826,0.17022540674290204,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0e9d3b48c988d551cb3348b04e4cb0fd3cad014d5029a5d479387647769e4b8a","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3810/tex_ceiling_textures_5415/tex_floor_textures_7615/tex_table_textures_5571/tex_wall_textures_757","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":4656099226973570964,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":4656099226973570964,"visual_seed":4656099226973570964,"scene_id":"lab_003","finished_at":"2026-09-04T16:11:56"} +{"episode_id":"ep_000009","started_at":"2026-09-04T16:12:00","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[0.708925899170064,-1.2290087449358054,0.71338606911949],"aabb_xy":[[0.7047900428373638,-1.2665087443801624],[0.7130617555027642,-1.1915087454914484]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[-0.43280262205068,-0.8496566324002222,0.71338606911949],"aabb_xy":[[-0.4928026223020811,-0.9039379574366867],[-0.37280262179927875,-0.7953753073637574]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[0.39627959633331633,-2.0577967155453347,0.71338606911949],"aabb_xy":[[0.36168851347927106,-2.1227967158303653],[0.4308706791873615,-1.9927967152603034]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[0.4429803515464257,0.00704716423437679,0.71338606911949],"aabb_xy":[[0.4193952280825308,-0.057952838011055],[0.46656547501032053,0.07204716647980858]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.35082007035004725,-1.637644120164806,0.71338606911949],"aabb_xy":[[0.34536212471302724,-1.717644123472465],[0.3562780159870674,-1.5576441168571469]]},{"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_5","position":[-0.22909888376838428,0.2900162128494266,0.71338606911949],"aabb_xy":[[-0.3140988821858075,0.2051419173871416],[-0.14409888535096105,0.37489050831171156]]},{"name":"lh_cell_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_6","position":[0.6419791080551573,-0.07744298896718771,0.71338606911949],"aabb_xy":[[0.577979107351688,-0.12346137144010874],[0.7059791087586267,-0.03142460649426671]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[-0.08733088134654032,1.6509098896497743,0.71338606911949],"aabb_xy":[[-0.151330882754531,1.5991209381258495],[-0.023330879938549664,1.702698841173699]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.2962262493347718,-1.449659528544064,0.71338606911949],"aabb_xy":[[-0.3070667275612867,-1.4668458098347126],[-0.2853857711082569,-1.4324732472534152]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.27464969332156947,-2.460033708858929,0.71338606911949],"aabb_xy":[[-0.3096496925143877,-2.471000754856591],[-0.23964969412875115,-2.449066662861266]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[-0.1966766630585528,-0.5527600737103349,0.71338606911949],"aabb_xy":[[-0.27667666333215973,-0.6257096215360515],[-0.1166766627849458,-0.4798105258846181]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[0.5193365200292648,-0.41777657237959387,0.71338606911949],"aabb_xy":[[0.48183651953190654,-0.4217452559277122],[0.556836520526623,-0.4138078888314754]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.4682051220275687,-0.7804196956034566,0.71338606911949],"aabb_xy":[[0.3782051223043944,-0.8034930481386363],[0.5582051217507427,-0.7573463430682766]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.41465877194544554,-0.5042883466055712,0.71338606911949],"aabb_xy":[[0.3801962939323577,-0.5109520237884939],[0.44912124995853325,-0.49762466942264827]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[0.47655291370745334,0.13526037884074604,0.71338606911949],"aabb_xy":[[0.459052913462404,0.11776059100117921],[0.4940529139525028,0.1527601666803129]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.618774393145358,-1.5650908057668176,0.71338606911949],"aabb_xy":[[0.5587743926375051,-1.6219375394527387],[0.6787743936532109,-1.508244072080896]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[-0.667522409237359,1.7289399641568761,0.71338606911949],"aabb_xy":[[-0.6849531243163655,1.711667849493025],[-0.6500916941583524,1.7462120788207267]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.41267819800888117,-0.6397068604115437,0.71338606911949],"aabb_xy":[[-0.4190920116520661,-0.6461166806592119],[-0.40626438436569623,-0.6332970401638752]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[-0.6143001168844479,0.46246690050851,0.71338606911949],"aabb_xy":[[-0.6251517231333235,0.45160760978085895],[-0.6034485106355723,0.473326191236161]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_19","position":[-0.42480551007401623,1.3847851865813605,0.71338606911949],"aabb_xy":[[-0.4376774135749563,1.3047851861675241],[-0.41193360657307604,1.4647851869951964]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[-0.3705868416943729,-0.9860457831253775,0.71338606911949],"aabb_xy":[[-0.37402751793443006,-0.989907216099742],[-0.3671461654543157,-0.982184350151013]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.6469962461840679,-0.006182764644182992,0.71338606911949],"aabb_xy":[[-0.6921675640322369,-0.07018276178872142],[-0.601824928335899,0.057817232500355434]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[0.2502993075434816,-1.733244810505501,0.71338606911949],"aabb_xy":[[0.21598303036886368,-1.7832448104786789],[0.28461558471809956,-1.6832448105323234]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[0.23574787601986613,1.3396362663852708,0.71338606911949],"aabb_xy":[[0.21325145458600203,1.3171362665785236],[0.25824429745373023,1.3621362661920184]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[-0.3052475376633772,1.4577263069638042,0.71338606911949],"aabb_xy":[[-0.36524753852418995,1.4062998769573174],[-0.24524753680256436,1.5091527369702902]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_25","position":[0.313251354532617,0.5135724205289294,0.71338606911949],"aabb_xy":[[0.2532513528896952,0.4615722712369851],[0.3732513561755389,0.5655725698208734]]}],"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":0.650922983356994,"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/4271.png","name":"4271"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4271.png","name":"4271"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4194.png","name":"4194"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9292.png","name":"9292"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5396.png","name":"5396"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5067.png","name":"5067"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":541.6721194867002,"rotation_z_degrees":165.02718045990022,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015837044116237927,0.0026938609700798075,-0.013279930948284946]},{"name":"camera_2","offset_m":[-0.0005298357072449529,0.007665509643148542,-0.0181704510284239]},{"name":"camera_3","offset_m":[-0.014844607156773666,-0.006097864374010765,0.0044691778978137]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014292422025819946,0.001947434575745869,0.0014920086663933376],"end_effector_yaw_offset_degrees":0.23241078382072522},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006787522039694315,0.0014856242102511243,0.0011253328719403413],"end_effector_yaw_offset_degrees":-0.346629328366971},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011630833476887102,0.0003596030536521678,-0.0015808069594068046],"end_effector_yaw_offset_degrees":-0.3747957570401965}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003984324764875452,-0.002094479723414495],"position_m":[0.21431567523512454,0.2651055202765855,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036230880935541636,-0.0008326290724551665],"position_m":[0.22172308809355415,-0.3562326290724552,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0001232870682568452,0.002904662782470914],"position_m":[0.3165767129317431,-0.056295337217529086,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001014461925833635,0.001844052745642543],"position_m":[0.35751446192583364,0.16774405274564252,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1c2968c5eb121f60856cd6ad7f77f4e78b071dd6ceb04976cdf98447556db904","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0009.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4271/tex_ceiling_textures_5067/tex_floor_textures_5396/tex_table_textures_4194/tex_wall_textures_9292","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8827891456500074045,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8827891456500074045,"visual_seed":8827891456500074045,"scene_id":"lab_003","finished_at":"2026-09-04T16:14:58"} +{"episode_id":"ep_000010","started_at":"2026-09-04T16:15:01","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[-0.21997432512590698,-0.7173258836901482,0.71338606911949],"aabb_xy":[[-0.2699572753133863,-0.7673258833327085],[-0.16999137493842764,-0.6673258840475876]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.34867289200200335,1.7658285612918125,0.71338606911949],"aabb_xy":[[-0.39384420985017243,1.7018285641472743],[-0.30350157415383444,1.8298285584363512]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.4376932900999422,-1.90567810003503,0.71338606911949],"aabb_xy":[[0.43065183914919464,-1.9127048517728245],[0.44473474105068983,-1.8986513482972356]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.20171407945464398,-0.48533947309925773,0.71338606911949],"aabb_xy":[[-0.2096373596933923,-0.5078394733372611],[-0.19379079921589565,-0.4628394728612544]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.6505059466788135,-0.9508144608988076,0.71338606911949],"aabb_xy":[[0.6456623519175834,-0.955666113377792],[0.6553495414400433,-0.9459628084198237]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[0.4380946138858026,-1.1794741604980776,0.71338606911949],"aabb_xy":[[0.3740946174584807,-1.226643784320174],[0.5020946103131245,-1.1323045366759812]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[-0.619736912295162,-1.7454647369829999,0.71338606911949],"aabb_xy":[[-0.6609857233250768,-1.800464736495217],[-0.5784881012652473,-1.6904647374707822]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[-0.429654608587409,-1.6489285618902456,0.71338606911949],"aabb_xy":[[-0.4774607762011776,-1.7139285645973044],[-0.3818484409736403,-1.5839285591831864]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.6396022997576964,-0.4243906477393118,0.71338606911949],"aabb_xy":[[-0.6442374149099296,-0.4282579828164604],[-0.6349671846054629,-0.4205233126621631]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[-0.5104635976711561,1.636872349302433,0.71338606911949],"aabb_xy":[[-0.5153628899777196,1.609195429999864],[-0.5055643053645926,1.6645492686050016]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[0.39773394892679526,-1.5357175403752334,0.71338606911949],"aabb_xy":[[0.3177339517672199,-1.54726514133305],[0.4777339460863705,-1.524169939417416]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.3369599823496894,1.4411789885320787,0.71338606911949],"aabb_xy":[[0.31945998321532215,1.4312993614944907],[0.3544599814840565,1.4510586155696663]]},{"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_12","position":[0.3090678957164861,-0.5575346094491826,0.71338606911949],"aabb_xy":[[0.25143742682921516,-0.6175346083758931],[0.3666983646037569,-0.49753461052247194]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.12058225267998135,-1.9207939470257456,0.71338606911949],"aabb_xy":[[0.06058225181916855,-1.9722203770322317],[0.18058225354079416,-1.869367517019259]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.3335223428707821,1.1895899979205247,0.71338606911949],"aabb_xy":[[0.2835223432944474,1.139609418968419],[0.38352234244711686,1.2395705768726308]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.22868155441025495,1.0923550462351779,0.71338606911949],"aabb_xy":[[-0.27877901839132857,1.0283550457253663],[-0.17858409042918136,1.15635504674499]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[0.5021467887959501,-1.3015919132293154,0.71338606911949],"aabb_xy":[[0.4947343332545616,-1.3074431236509434],[0.5095592443373386,-1.2957407028076875]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[0.19185035325747668,-1.310360657431227,0.71338606911949],"aabb_xy":[[0.1822187170370471,-1.3199979702109357],[0.20148198947790633,-1.3007233446515178]]},{"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_18","position":[0.19603521369535315,1.4063935169082118,0.71338606911949],"aabb_xy":[[0.18994058580723483,1.3978241223565433],[0.20212984158347147,1.4149629114598807]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.45223692631472834,-2.350219886677192,0.71338606911949],"aabb_xy":[[0.42769071069197767,-2.3804687832262292],[0.4767831419374791,-2.319970990128155]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[0.18844314281010288,-0.7686855157919619,0.71338606911949],"aabb_xy":[[0.10344314411802824,-0.8006713791868407],[0.2734431415021775,-0.736699652397083]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[0.11922582561644746,-1.814635973625097,0.71338606911949],"aabb_xy":[[0.11118949091516261,-1.8226740929295138],[0.1272621603177323,-1.8065978543206802]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[-0.41214835928302185,-1.1675752074455077,0.71338606911949],"aabb_xy":[[-0.4531663026693927,-1.217575208076465],[-0.3711304158966509,-1.1175752068145504]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.15643387789661523,-1.8603046874795695,0.71338606911949],"aabb_xy":[[-0.16800285864355183,-1.8853046875965014],[-0.14486489714967868,-1.835304687362638]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.6471823644546708,-2.0395130695295163,0.71338606911949],"aabb_xy":[[0.5972035559443548,-2.0895130695352346],[0.6971611729649866,-1.989513069523797]]},{"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_25","position":[0.544867631038582,-0.7448145140858897,0.71338606911949],"aabb_xy":[[0.4598676326211588,-0.8296888095481747],[0.6298676294560053,-0.6599402186236047]]},{"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_26","position":[-0.5196466568614142,0.6887734048423497,0.71338606911949],"aabb_xy":[[-0.5496383195952845,0.6587734055055491],[-0.4896549941275439,0.7187734041791501]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_27","position":[-0.09910035274220874,-1.124320595520287,0.71338606911949],"aabb_xy":[[-0.1366003511656091,-1.1374848094881174],[-0.06160035431880839,-1.1111563815524563]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_28","position":[0.1270326193756245,-1.0319708440611361,0.71338606911949],"aabb_xy":[[0.10514287178668368,-1.121970841350385],[0.14892236696456526,-0.9419708467718869]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[-0.5410530647597442,-0.09079025125840978,0.71338606911949],"aabb_xy":[[-0.583237478920575,-0.15479025153562098],[-0.4988686505989135,-0.026790250981198582]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_30","position":[-0.38964455010749593,-1.940992969290402,0.71338606911949],"aabb_xy":[[-0.42394146112523656,-1.9752898555003433],[-0.3553476390897553,-1.9066960830804607]]}],"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":0.6521492768322412,"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/5131.png","name":"5131"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5131.png","name":"5131"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6504.png","name":"6504"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7150.png","name":"7150"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7382.png","name":"7382"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4151.png","name":"4151"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":660.995695012272,"rotation_z_degrees":263.76515309692434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006599930794067146,-0.0029250508158838,0.010589751499118925]},{"name":"camera_2","offset_m":[0.004167545139190477,-0.016766155768021464,-0.004037674929464559]},{"name":"camera_3","offset_m":[0.01763520667517997,-0.011794159090307127,-0.011115499344769072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007251401673211339,-0.0015769608601327644,0.00025835425707499034],"end_effector_yaw_offset_degrees":-0.15838014100316267},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017249360119081939,0.0016704802346570024,-0.0010936309295727412],"end_effector_yaw_offset_degrees":0.01827972207592543},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006450001767289416,-0.0014853328642468102,-0.00023496750632367156],"end_effector_yaw_offset_degrees":0.2036893664881203}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008573287581011627,0.0037729473340854377],"position_m":[0.21744267124189884,0.27097294733408545,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010100154309630504,5.596483092039969e-05],"position_m":[0.21911001543096303,-0.3553440351690796,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004755112703947568,0.00457904888476869],"position_m":[0.32145511270394755,-0.05462095111523131,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004393376774029899,-0.0007569926458467638],"position_m":[0.3608933767740299,0.16514300735415322,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"355eddeadbf2d383f19539bb28614f45d6219a97177b3f6fe8c8bcf6f6b13bc9","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5131/tex_ceiling_textures_4151/tex_floor_textures_7382/tex_table_textures_6504/tex_wall_textures_7150","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1234949297018728541,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1234949297018728541,"visual_seed":1234949297018728541,"scene_id":"lab_003","finished_at":"2026-09-04T16:17:53"} +{"episode_id":"ep_000011","started_at":"2026-09-04T16:17:56","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[-0.572004797185766,-1.0038150754838144,0.71338606911949],"aabb_xy":[[-0.6370047972200688,-1.0505157521641417],[-0.5070047971514633,-0.9571143988034871]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.676256548793345,-0.9782510466282281,0.71338606911949],"aabb_xy":[[0.631085230945176,-1.0422510437727668],[0.7214278666415139,-0.91425104948369]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.4880536119774234,1.7727363800924354,0.71338606911949],"aabb_xy":[[-0.5031559134384413,1.7576348584613732],[-0.47295131051640515,1.787837901723497]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[-0.23178786309123106,1.0475023935645904,0.71338606911949],"aabb_xy":[[-0.2530658712347033,0.9825023912385171],[-0.2105098549477588,1.1125023958906632]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.12843107032248335,-2.111032015960716,0.71338606911949],"aabb_xy":[[-0.19243106762482973,-2.1553984429285724],[-0.06443107302013693,-2.066665588992859]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[0.061987834102917305,-0.8024717459117034,0.71338606911949],"aabb_xy":[[0.05235619788248768,-0.8121090586914124],[0.07161947032334692,-0.7928344331319945]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[0.42063830865060403,-2.00180295786119,0.71338606911949],"aabb_xy":[[0.3856383094577856,-2.0127700038588525],[0.45563830784342213,-1.9908359118635275]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[-0.4131832303754644,-2.119652005651494,0.71338606911949],"aabb_xy":[[-0.4771832295452344,-2.1664186927704563],[-0.3491832312056945,-2.0728853185325313]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.33593678199919286,-2.429121680199069,0.71338606911949],"aabb_xy":[[-0.34297709193272985,-2.5091216795987408],[-0.32889647206565586,-2.349121680799398]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.6832748168331735,-0.2773509947468389,0.71338606911949],"aabb_xy":[[0.6657748833991901,-0.2948509946670734],[0.7007747502671569,-0.2598509948266043]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.2877446400768626,-0.9616763050506574,0.71338606911949],"aabb_xy":[[0.26274464080490034,-0.9780216686468198],[0.3127446393488249,-0.9453309414544951]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[0.5566935314049901,-0.6908545824599377,0.71338606911949],"aabb_xy":[[0.5366351197917498,-0.7109196693690953],[0.5767519430182304,-0.6707894955507803]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[0.21053447918838764,1.390032971506705,0.71338606911949],"aabb_xy":[[0.16056118518512716,1.3400329709521572],[0.2605077731916481,1.440032972061252]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.46579430095743346,-1.637591830124725,0.71338606911949],"aabb_xy":[[0.4533269428476978,-1.6500571547580483],[0.4782616590671691,-1.6251265054914013]]},{"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_14","position":[-0.15640111431835457,-1.0567346766509829,0.71338606911949],"aabb_xy":[[-0.18639277705222487,-1.0867346759877834],[-0.12640945158448422,-1.0267346773141823]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.4164277666502406,0.06804821990670717,0.71338606911949],"aabb_xy":[[-0.48042776594440884,0.004062079537852981],[-0.3524277673560724,0.13203436027556137]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.28054992571008397,-0.26696301052124083,0.71338606911949],"aabb_xy":[[-0.3505499275188294,-0.2883167792854282],[-0.21054992390133853,-0.24560924175705345]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[0.21995678661383622,1.0301129351400542,0.71338606911949],"aabb_xy":[[0.202456787479469,1.0202333081024662],[0.23745678574820334,1.0399925621776418]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[-0.31127511866826574,-1.0500762726486088,0.71338606911949],"aabb_xy":[[-0.320622126250561,-1.0643798948662528],[-0.30192811108597056,-1.0357726504309648]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.03152399823592844,1.6834714754645606,0.71338606911949],"aabb_xy":[[-0.08140669511362465,1.633471476218286],[0.01835869864176776,1.7334714747108355]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[0.055775362800259964,-1.3569679266001247,0.71338606911949],"aabb_xy":[[0.04807217212618292,-1.3646772972988626],[0.06347855347433701,-1.3492585559013863]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[0.44128228626777366,0.30937802899931954,0.71338606911949],"aabb_xy":[[0.386289074930637,0.25437802866052595],[0.4962754976049105,0.36437802933811314]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.5714217605838849,1.7604992584799803,0.71338606911949],"aabb_xy":[[-0.5763210528904484,1.7328223391774111],[-0.5665224682773214,1.7881761777825487]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[0.594109349010917,-1.5193138243542865,0.71338606911949],"aabb_xy":[[0.5469799700090813,-1.5833138253986883],[0.6412387280127526,-1.4553138233098843]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[0.16054215306745034,-0.6680254226521236,0.71338606911949],"aabb_xy":[[0.11554956634899993,-0.7130254219265724],[0.20553473978590076,-0.6230254233776749]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[-0.17901680290692645,0.2545083594343329,0.71338606911949],"aabb_xy":[[-0.18551843941493107,0.2447405374080232],[-0.17251516639892184,0.26427618146064275]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_26","position":[0.3211890008105902,-2.1711916984684727,0.71338606911949],"aabb_xy":[[0.2868727236359722,-2.2211916984416504],[0.3555052779852081,-2.121191698495295]]}],"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":0.6506585874081695,"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/3892.png","name":"3892"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3892.png","name":"3892"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8239.png","name":"8239"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1308.png","name":"1308"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1062.png","name":"1062"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6144.png","name":"6144"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":827.2283767021136,"rotation_z_degrees":290.9776936242232,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009976334407969419,-0.0012583768186094878,0.01153110760965444]},{"name":"camera_2","offset_m":[-0.016138994175196503,-0.006826188155631652,-0.003673723260239698]},{"name":"camera_3","offset_m":[-0.00849888039254293,0.014543649380775469,0.01921489706466876]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019293507383576379,0.000905075848799247,-0.0004936032385866977],"end_effector_yaw_offset_degrees":0.4051594714975937},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00019826795505744265,0.0016467998105400687,-0.0006741403774648891],"end_effector_yaw_offset_degrees":0.21117478267130285},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014471295904587267,0.0016636208239517122,0.0017196505351017338],"end_effector_yaw_offset_degrees":0.43088320179603223}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006445558510026284,0.0019660453698668147],"position_m":[0.21894455585100261,0.2691660453698668,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025994814298744276,-0.001877407645235607],"position_m":[0.22069948142987442,-0.3572774076452356,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003484563923940303,-0.004533829932525604],"position_m":[0.3201845639239403,-0.0637338299325256,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003866878556798576,-0.004672886088142923],"position_m":[0.36036687855679855,0.16122711391185707,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ce3a205ab9bfad874ec0548e957f4dabfff2b2b4388a303084f0047eee21a6a","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3892/tex_ceiling_textures_6144/tex_floor_textures_1062/tex_table_textures_8239/tex_wall_textures_1308","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1291898782645143201,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1291898782645143201,"visual_seed":1291898782645143201,"scene_id":"lab_003","finished_at":"2026-09-04T16:20:59"} +{"episode_id":"ep_000012","started_at":"2026-09-04T16:21:02","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[-0.08449083044094363,-0.848061148094402,0.71338606911949],"aabb_xy":[[-0.13446963895125952,-0.8980611481001207],[-0.034512021930627745,-0.7980611480886831]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[-0.316033382694637,0.3252456986967389,0.71338606911949],"aabb_xy":[[-0.33853251842086396,0.30274569791847594],[-0.29353424696841,0.3477456994750019]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[0.526770087983049,-2.2724137835685805,0.71338606911949],"aabb_xy":[[0.4892700867982562,-2.27683200626464],[0.5642700891678417,-2.267995560872519]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.29251255489021843,-2.3640609424179644,0.71338606911949],"aabb_xy":[[0.22251255225363203,-2.3841658074138294],[0.3625125575268047,-2.3439560774220984]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[-0.4754421981479562,0.7637394170550094,0.71338606911949],"aabb_xy":[[-0.5204347848664066,0.7187394177805604],[-0.43044961142950583,0.8087394163294579]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.3106006503056311,-1.3625960936392367,0.71338606911949],"aabb_xy":[[0.3059655351533977,-1.366463428716385],[0.3152357654578644,-1.3587287585620875]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.5497653783480471,-0.18679671201855585,0.71338606911949],"aabb_xy":[[-0.6137653786220253,-0.23686281221584385],[-0.48576537807406883,-0.13673061182126792]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[0.3859078493350028,1.7803261708516387,0.71338606911949],"aabb_xy":[[0.32090785077792994,1.750573637437756],[0.4509078478920756,1.8100787042655213]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[0.36829232032456916,-2.11116194770491,0.71338606911949],"aabb_xy":[[0.3622553073239045,-2.1171886487738583],[0.37432933332523394,-2.105135246635962]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[0.15110338948522417,0.9378220055066651,0.71338606911949],"aabb_xy":[[0.1146075688579454,0.9013380630799073],[0.18759921011250288,0.9743059479334224]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[0.45852891609384927,-0.4025650887890886,0.71338606911949],"aabb_xy":[[0.40852891481000925,-0.45254394317971064],[0.5085289173776891,-0.3525862343984664]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.539997437240741,-0.6291217956454083,0.71338606911949],"aabb_xy":[[-0.5649974364063741,-0.636074041350765],[-0.5149974380751079,-0.6221695499400518]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.38486389243533004,-1.122242563628934,0.71338606911949],"aabb_xy":[[0.3714173658012867,-1.135712415282025],[0.39831041906937337,-1.1087727119758428]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.4975091802813668,-1.8076970293758226,0.71338606911949],"aabb_xy":[[-0.5775091772956147,-1.8278315810492338],[-0.4175091832671188,-1.7875624777024113]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.2403640598465553,1.2175117793508403,0.71338606911949],"aabb_xy":[[-0.2653640593982938,1.2073692954857054],[-0.2153640602948168,1.2276542632159748]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.4293723927941285,-0.48745788533533796,0.71338606911949],"aabb_xy":[[-0.4532086104347336,-0.5774578861438245],[-0.40553617515352347,-0.3974578845268516]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.5741424360588542,-1.297463836475852,0.71338606911949],"aabb_xy":[[-0.6154469791225902,-1.361463836043969],[-0.5328378929951182,-1.2334638369077349]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[0.36057093202604085,-0.4238063551655462,0.71338606911949],"aabb_xy":[[0.35561491184115973,-0.44630635536766794],[0.3655269522109221,-0.4013063549634247]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[0.6893095058615093,-1.655144383011154,0.71338606911949],"aabb_xy":[[0.676437602360569,-1.73514438342499],[0.7021814093624493,-1.5751443825973177]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.22004587607006232,1.3189210792213135,0.71338606911949],"aabb_xy":[[-0.25689642400704993,1.2814210783982796],[-0.1831953281330747,1.356421080044347]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[-0.20626981555370277,-1.0455964922143712,0.71338606911949],"aabb_xy":[[-0.21712142180257837,-1.0564557829420222],[-0.19541820930482717,-1.0347372014867202]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.61018401430806,0.016387475176988353,0.71338606911949],"aabb_xy":[[-0.6801840164394894,-0.0063744904487073074],[-0.5401840121766304,0.03914944080268401]]}],"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":0.6464638708683206,"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/4609.png","name":"4609"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4609.png","name":"4609"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/525.png","name":"525"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8509.png","name":"8509"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9024.png","name":"9024"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2930.png","name":"2930"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":595.6366006992762,"rotation_z_degrees":296.80364271992283,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011842893095383134,-0.006658750171538297,0.004906630519325224]},{"name":"camera_2","offset_m":[-0.01210706019620754,-0.0005761067748336207,0.012373832162386359]},{"name":"camera_3","offset_m":[0.0029989809123417907,0.0035808421454025068,0.017693020115706237]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00193136996356258,0.0002391220401412467,0.0017787903588679143],"end_effector_yaw_offset_degrees":0.04827893747113765},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000664761807684806,0.0006046347027236628,0.000771838166763687],"end_effector_yaw_offset_degrees":-0.6828958875387707},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006664004343615556,-0.0011764437836611938,-0.001677840715592546],"end_effector_yaw_offset_degrees":0.45395676089830994}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004281360586413028,-0.0033627334140472398],"position_m":[0.21401863941358695,0.26383726658595275,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00038247511398884805,0.0011898348278156197],"position_m":[0.21771752488601115,-0.3542101651721844,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031028965618154413,-0.0013125667350713842],"position_m":[0.31980289656181543,-0.06051256673507139,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004052428925494234,0.003644005946080042],"position_m":[0.35244757107450575,0.16954400594608005,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"71fa65f64cc8494fe9c7dbf1e9e5b758c6b9c6fb6d3c67cbda9f481c62dd8e2d","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4609/tex_ceiling_textures_2930/tex_floor_textures_9024/tex_table_textures_525/tex_wall_textures_8509","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":389555894794743298,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":389555894794743298,"visual_seed":389555894794743298,"scene_id":"lab_003","finished_at":"2026-09-04T16:23:54"} +{"episode_id":"ep_000013","started_at":"2026-09-04T16:23:57","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.1836080797345926,-1.455679675330249,0.71338606911949],"aabb_xy":[[-0.23860807793633743,-1.4962016419566864],[-0.12860808153284775,-1.4151577087038112]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[-0.17128967013281982,-2.0195796777550115,0.71338606911949],"aabb_xy":[[-0.19420538301786977,-2.042483974891435],[-0.14837395724776994,-1.996675380618588]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[-0.4333256482567078,-0.3915201589034414,0.71338606911949],"aabb_xy":[[-0.48831885959384463,-0.44652015924223504],[-0.37833243691957114,-0.3365201585646478]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.6537482448525533,0.857381306130256,0.71338606911949],"aabb_xy":[[-0.6616715250913017,0.8348813058922526],[-0.645824964613805,0.8798813063682593]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.5365906522256321,-1.3300461236708105,0.71338606911949],"aabb_xy":[[-0.5512340577796652,-1.3447048433275943],[-0.5219472466715992,-1.3153874040140259]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[-0.5680645441291217,0.8023205712887029,0.71338606911949],"aabb_xy":[[-0.5925781682261275,0.7780559779866665],[-0.5435509200321158,0.8265851645907394]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.5640899304949809,-0.776214528067996,0.71338606911949],"aabb_xy":[[0.5464570949014533,-0.7938374740836188],[0.5817227660885085,-0.7585915820523729]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[-0.41466372176578764,-0.7950327100881089,0.71338606911949],"aabb_xy":[[-0.46246988937955624,-0.8600327127951679],[-0.366857554152019,-0.7300327073810501]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.17486731125182986,-1.9000050781220947,0.71338606911949],"aabb_xy":[[0.1692856396177011,-1.9125050779398702],[0.18044898288595862,-1.8875050783043192]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[0.192215925909484,1.6869894646182941,0.71338606911949],"aabb_xy":[[0.17215751429624374,1.6669243777091367],[0.21227433752272432,1.7070545515274516]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[-0.0778152844485287,-1.7642446630952575,0.71338606911949],"aabb_xy":[[-0.11240636730257392,-1.8292446633802883],[-0.04322420159448349,-1.6992446628102262]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.14460807297413336,-0.08328045125271455,0.71338606911949],"aabb_xy":[[-0.16710807321764876,-0.0954850859124865],[-0.12210807273061797,-0.0710758165929426]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.17579399694862985,-1.4832037473390771,0.71338606911949],"aabb_xy":[[0.1259772174837951,-1.5332037458233803],[0.2256107764134646,-1.4332037488547735]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[0.3793619930763332,0.8692153870594947,0.71338606911949],"aabb_xy":[[0.2993619926061173,0.8609046794451466],[0.4593619935465492,0.8775260946738433]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.5109150616724812,0.3097814658874052,0.71338606911949],"aabb_xy":[[-0.5609150626916165,0.27331525014957725],[-0.460915060653346,0.3462476816252331]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.3361350844071618,-0.5686550792903478,0.71338606911949],"aabb_xy":[[-0.36113508395890026,-0.5787975631554824],[-0.3111350848554233,-0.5585125954252129]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[-0.3294562674969,1.4829161061533207,0.71338606911949],"aabb_xy":[[-0.3519526889307641,1.460416106346573],[-0.3069598460630359,1.505416105960068]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.26297449238926407,-0.864477405549932,0.71338606911949],"aabb_xy":[[0.21299154220178476,-0.9144774051924924],[0.3129574425767434,-0.8144774059073716]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.39765311411526993,0.3731464512955598,0.71338606911949],"aabb_xy":[[0.37381689647466493,0.2831464504870734],[0.4214893317558751,0.46314645210404637]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[0.6714073228303807,-1.418135868968738,0.71338606911949],"aabb_xy":[[0.6633639629044255,-1.5031358700641042],[0.6794506827563358,-1.3331358678733713]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[0.5520895104291053,0.3059114241102141,0.71338606911949],"aabb_xy":[[0.5440531757278203,0.29787330480579727],[0.56012584513039,0.3139495434146308]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[-0.22287373161918078,-1.2986421034217683,0.71338606911949],"aabb_xy":[[-0.22750884677141414,-1.3025094384989166],[-0.21823861646694737,-1.2947747683446196]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[-0.39225671865565365,-1.8935294645183995,0.71338606911949],"aabb_xy":[[-0.4722567172429731,-1.9728450664565607],[-0.3122567200683342,-1.8142138625802389]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[-0.10633742110839295,-2.4721850201184545,0.71338606911949],"aabb_xy":[[-0.17033742136886376,-2.517193819471382],[-0.04233742084792214,-2.427176220765526]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[-0.43831607089300545,-1.4562493242035035,0.71338606911949],"aabb_xy":[[-0.5083160735295917,-1.4763541891993688],[-0.36831606825641905,-1.4361444592076378]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[-0.5204387916329676,-0.23145023071104598,0.71338606911949],"aabb_xy":[[-0.5844387887450733,-0.2804826005054566],[-0.4564387945208619,-0.1824178609166354]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[0.5635870618058891,-1.645923300863772,0.71338606911949],"aabb_xy":[[0.5222825187421531,-1.7099233004318888],[0.6048916048696251,-1.5819233012956546]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_27","position":[-0.01860369594508382,-1.100525926971492,0.71338606911949],"aabb_xy":[[-0.05204387114110341,-1.1339695528024218],[0.014836479250935787,-1.0670823011405617]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_28","position":[0.6420378086562457,1.228311302638585,0.71338606911949],"aabb_xy":[[0.6251270762199038,1.2148390970459704],[0.6589485410925874,1.2417835082311997]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_29","position":[0.018860130090998073,-1.291357999344307,0.71338606911949],"aabb_xy":[[0.014781972183948333,-1.2954389795925703],[0.022938287998047813,-1.2872770190960436]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_30","position":[0.46496954523209677,0.9477720211579501,0.71338606911949],"aabb_xy":[[0.46085359512002405,0.9436564661251045],[0.4690854953441694,0.9518875761907956]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[-0.35065490643284253,-2.5551743175311916,0.71338606911949],"aabb_xy":[[-0.3831166073147699,-2.585307149646094],[-0.31819320555091496,-2.5250414854162884]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_32","position":[0.06104028489588764,-2.56475632261515,0.71338606911949],"aabb_xy":[[0.05062872621540392,-2.5701020559510477],[0.07145184357637135,-2.559410589279251]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_33","position":[0.16516008331903964,1.3691487744101725,0.71338606911949],"aabb_xy":[[0.14327033573009884,1.2791487771209236],[0.18704983090798044,1.4591487716994218]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_34","position":[0.586665659222118,0.5816810147901914,0.71338606911949],"aabb_xy":[[0.5366882423568643,0.5316810133009428],[0.6366430760873715,0.6316810162794398]]}],"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":0.6520111247266586,"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/9716.png","name":"9716"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9716.png","name":"9716"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6435.png","name":"6435"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6480.png","name":"6480"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3302.png","name":"3302"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/46.png","name":"46"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":503.1734565934051,"rotation_z_degrees":160.9463977871872,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008539488289815149,0.016228434224600356,-0.012796762486452189]},{"name":"camera_2","offset_m":[-0.01759625630374124,0.015825703367631904,0.0013180917061613902]},{"name":"camera_3","offset_m":[-0.013682484881022226,0.008225857041971173,0.008567071855858244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005047075719558833,-0.0012568824055906567,0.0011614641733444266],"end_effector_yaw_offset_degrees":-0.7165305938093869},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001804065117509107,0.0003768008916285215,0.0014999431633484338],"end_effector_yaw_offset_degrees":0.2615891606443035},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005501503799521068,0.0010844686943442712,0.0010009727055333788],"end_effector_yaw_offset_degrees":-0.1285772626861077}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001517282664175698,0.004259910435740178],"position_m":[0.2198172826641757,0.2714599104357402,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006389065589877804,-0.0007792640772255107],"position_m":[0.21873890655898776,-0.3561792640772255,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010258540515906854,0.0031973808476986132],"position_m":[0.31772585405159065,-0.05600261915230139,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038239720523153354,0.000863855491018293],"position_m":[0.3603239720523153,0.1667638554910183,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4250076e31b9ced470e9d64307bd7fa57ab74d0a964622477ed52ff4d276b7ea","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9716/tex_ceiling_textures_46/tex_floor_textures_3302/tex_table_textures_6435/tex_wall_textures_6480","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5455418380417958548,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5455418380417958548,"visual_seed":5455418380417958548,"scene_id":"lab_003","finished_at":"2026-09-04T16:26:50"} +{"episode_id":"ep_000014","started_at":"2026-09-04T16:26:54","dimensions":{"distractor":{"count":33,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.5738120642578448,-1.409599949344372,0.71338606911949],"aabb_xy":[[0.49381206724359683,-1.4297345010177833],[0.6538120612720928,-1.3894653976709608]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.5325229913362888,0.3742736934431603,0.71338606911949],"aabb_xy":[[-0.5735409347226597,0.324273692812203],[-0.4915050479499179,0.42427369407411764]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.28773117543811866,0.31757487378539073,0.71338606911949],"aabb_xy":[[-0.35273117639524587,0.2656266618516851],[-0.22273117448099147,0.36952308571909626]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.4280521195969427,0.5173250757307968,0.71338606911949],"aabb_xy":[[-0.43889259782345763,0.500138794440148],[-0.4172116413704278,0.5345113570214456]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[-0.046225235775088525,-1.792516765722394,0.71338606911949],"aabb_xy":[[-0.05747029134570635,-1.8037585634464892],[-0.03498018020447068,-1.7812749679982987]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.6096775638961116,0.8203128409844838,0.71338606911949],"aabb_xy":[[-0.6332626873600065,0.755312838739052],[-0.5860924404322168,0.8853128432299155]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[-0.1681578442747732,0.05785768934886182,0.71338606911949],"aabb_xy":[[-0.17349541994077777,0.032857688419722024],[-0.16282026860876864,0.0828576902780016]]},{"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_7","position":[-0.5927257403763692,-2.1963331542727498,0.71338606911949],"aabb_xy":[[-0.6014237026670846,-2.208458128580224],[-0.584027778085654,-2.1842081799652746]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.05832168641480229,1.0109207966219693,0.71338606911949],"aabb_xy":[[0.023730603560757065,0.9459207963369384],[0.09291276926884749,1.0759207969070004]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.47471831391176544,0.48689069675818786,0.71338606911949],"aabb_xy":[[0.43721831311976994,0.48052285579999765],[0.5122183147037609,0.49325853771637784]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.1101620492748564,-0.2863822029910099,0.71338606911949],"aabb_xy":[[-0.17516204743077546,-0.3126784475409221],[-0.04516205111893734,-0.2600859584410977]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.2526470332706935,-1.2058713931503562,0.71338606911949],"aabb_xy":[[0.24322955870083068,-1.2152875702880752],[0.2620645078405562,-1.1964552160126372]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.41249101547610045,-0.810522844237765,0.71338606911949],"aabb_xy":[[-0.41953246642684805,-0.8175495959755597],[-0.40544956452535286,-0.8034960924999706]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[-0.20213682093932994,-1.7693032506358801,0.71338606911949],"aabb_xy":[[-0.23078615329974614,-1.7979488099129557],[-0.1734874885789137,-1.740657691358804]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.6680844124334093,-1.4938934407321476,0.71338606911949],"aabb_xy":[[-0.6933052492932489,-1.519117191585034],[-0.6428635755735695,-1.4686696898792606]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[-0.3212240719239001,1.5694410603607634,0.71338606911949],"aabb_xy":[[-0.3383261498822683,1.5523342548294932],[-0.30412199396553197,1.5865478658920327]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[0.1726317395311847,0.9902575672249379,0.71338606911949],"aabb_xy":[[0.16002904039410829,0.9776621710000725],[0.1852344386682612,1.0028529634498033]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.06923096916818594,-0.9125072894666788,0.71338606911949],"aabb_xy":[[0.019257903635670485,-0.9625072892792117],[0.11920403470070143,-0.8625072896541459]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[-0.5412255067076166,-1.721592157022299,0.71338606911949],"aabb_xy":[[-0.6212255038671919,-1.733139757980116],[-0.4612255095480413,-1.710044556064482]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[0.7059013995925651,-0.10452349007114847,0.71338606911949],"aabb_xy":[[0.6958196925139917,-0.18452348796326312],[0.7159831066711386,-0.02452349217903381]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[-0.1320242315916368,1.3345420701316582,0.71338606911949],"aabb_xy":[[-0.16702423078445502,1.3235750241339954],[-0.0970242323988185,1.3455091161293204]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.10717869087213472,-1.4680700092343648,0.71338606911949],"aabb_xy":[[-0.1120222856333647,-1.4729216617133492],[-0.10233509611090474,-1.463218356755381]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.0663897246037164,0.9411940717135003,0.71338606911949],"aabb_xy":[[-0.07242673760438112,0.9351673706445522],[-0.06035271160305167,0.9472207727824487]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[0.2041882289831186,-1.3723363284897314,0.71338606911949],"aabb_xy":[[0.15419511687392676,-1.422336329163927],[0.25418134109231055,-1.3223363278155358]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[0.2964159857936324,-2.3612879495425885,0.71338606911949],"aabb_xy":[[0.28849270555488404,-2.383787949780592],[0.3043392660323807,-2.338787949304585]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[-0.4856466883667143,0.7681279788977191,0.71338606911949],"aabb_xy":[[-0.520646689718196,0.7477682429408982],[-0.4506466870152326,0.7884877148545398]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[0.1326595230925921,1.6617699385503273,0.71338606911949],"aabb_xy":[[0.10937768089446077,1.5767699372530994],[0.15594136529072344,1.7467699398475556]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_27","position":[0.4834321790497256,-1.9854694005777,0.71338606911949],"aabb_xy":[[0.4284321798731361,-2.0404590753526577],[0.5384321782263151,-1.9304797258027424]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_28","position":[0.5681714560501794,-0.048313958013971536,0.71338606911949],"aabb_xy":[[0.5605471879600011,-0.055947181550515264],[0.5757957241403576,-0.040680734477427816]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_29","position":[-0.6541673012941542,-0.584943778777721,0.71338606911949],"aabb_xy":[[-0.6623818464098382,-0.5936203690753622],[-0.6459527561784703,-0.5762671884800795]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_30","position":[-0.672667730868754,-0.5191071481142271,0.71338606911949],"aabb_xy":[[-0.6882235002790192,-0.5346575813586344],[-0.6571119614584887,-0.50355671486982]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_31","position":[-0.0796359610023657,-0.895942203549493,0.71338606911949],"aabb_xy":[[-0.09150804401386681,-0.9809422032431434],[-0.06776387799086458,-0.8109422038558427]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_32","position":[0.7144940985097463,-2.041400478853561,0.71338606911949],"aabb_xy":[[0.70571287136251,-2.050180226142092],[0.7232753256569826,-2.0326207315650313]]}],"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":0.651328129486389,"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/9084.png","name":"9084"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9084.png","name":"9084"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1019.png","name":"1019"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4723.png","name":"4723"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8744.png","name":"8744"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5694.png","name":"5694"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":812.9562953124988,"rotation_z_degrees":161.93479664182874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01650815428085994,0.008469633025584015,0.019484595143762922]},{"name":"camera_2","offset_m":[0.011641276043950485,-0.01622458464658235,-0.0073754023486324715]},{"name":"camera_3","offset_m":[0.005400372302276683,-0.004770406498070305,-0.001560490827682049]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006608130543039352,0.0017232585730163272,-0.0013300003073695255],"end_effector_yaw_offset_degrees":0.7145410131194483},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008924229951917683,0.000773895428347585,-0.000616698260393337],"end_effector_yaw_offset_degrees":0.4684116802835696},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019054043326826471,0.0003453777161398358,0.0017320031013738977],"end_effector_yaw_offset_degrees":-0.524648392610934}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004360253856683456,0.0033629700253367282],"position_m":[0.22266025385668345,0.27056297002533675,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029651412856805505,-0.0025744548971760794],"position_m":[0.22106514128568053,-0.35797445489717605,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002126299914219306,-0.0027213796905268283],"position_m":[0.31457370008578067,-0.06192137969052683,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002153150921966813,0.004814096774570137],"position_m":[0.35434684907803315,0.17071409677457014,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d9b88ba1838312f4b4e2b039dd9849aa4a92f31201aa8461e1a1ae8d871cf86","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9084/tex_ceiling_textures_5694/tex_floor_textures_8744/tex_table_textures_1019/tex_wall_textures_4723","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6037014270422338001,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6037014270422338001,"visual_seed":6037014270422338001,"scene_id":"lab_003","finished_at":"2026-09-04T16:29:54"} +{"episode_id":"ep_000015","started_at":"2026-09-04T16:29:57","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.14636642317827953,-0.30053936745798415,0.71338606911949],"aabb_xy":[[-0.15267852271461793,-0.30630630671120296],[-0.14005432364194106,-0.29477242820476535]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[-0.49015440418025147,1.389252072236678,0.71338606911949],"aabb_xy":[[-0.5798414804883669,1.2992520719822276],[-0.40046732787213596,1.4792520724911287]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[-0.2698855105820627,1.2441022434640154,0.71338606911949],"aabb_xy":[[-0.2827574140830028,1.164102243050179],[-0.25701360708112253,1.3241022438778514]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[0.1009083411071039,1.681218793156845,0.71338606911949],"aabb_xy":[[0.036908343994998205,1.6321864233624346],[0.16490833821920958,1.7302511629512558]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[0.11836980861543245,-1.2209161426063424,0.71338606911949],"aabb_xy":[[0.11186817210742786,-1.2306839646326524],[0.12487144512343709,-1.2111483205800329]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.6027450631382499,-0.964400868863186,0.71338606911949],"aabb_xy":[[-0.6627450639990626,-1.0158272988696724],[-0.542745062277437,-0.9129744388566996]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.12881128926619723,-0.9165918124156385,0.71338606911949],"aabb_xy":[[-0.1788105644346334,-0.9665918136915858],[-0.07881201409776106,-0.8665918111396914]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.1042104393205977,-2.133826553490234,0.71338606911949],"aabb_xy":[[0.08671044004251083,-2.15116465355658],[0.12171043859868458,-2.116488453423888]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[0.6666841372271866,0.9147874211259546,0.71338606911949],"aabb_xy":[[0.616689304299245,0.8647874222307109],[0.7166789701551282,0.964787420021198]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[-0.3143467219347137,0.5649113704709787,0.71338606911949],"aabb_xy":[[-0.35559553296462837,0.5099113709587613],[-0.2730979109047989,0.6199113699831962]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.3807015114557268,-0.5644823501814766,0.71338606911949],"aabb_xy":[[-0.41820151180395454,-0.5762737457625601],[-0.343201511107499,-0.552690954600393]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[-0.6081383842239604,0.8517159750055736,0.71338606911949],"aabb_xy":[[-0.6161323728016638,0.8437158949104832],[-0.600144395646257,0.8597160551006638]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[0.5745777888642711,-1.8641634057185117,0.71338606911949],"aabb_xy":[[0.5245777879137382,-1.8957125527220327],[0.6245777898148038,-1.8326142587149898]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[0.4360285675094253,0.7199938931462593,0.71338606911949],"aabb_xy":[[0.4127467253112939,0.6349938918490311],[0.4593104097075566,0.8049938944434872]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.34112789771405816,-0.928277277061688,0.71338606911949],"aabb_xy":[[-0.43112789421492986,-0.9741889194801463],[-0.25112790121318634,-0.8823656346432298]]},{"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_15","position":[-0.07910883874872554,1.3620421307611155,0.71338606911949],"aabb_xy":[[-0.08520346663684386,1.3534727362094467],[-0.07301421086060722,1.3706115253127842]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.6432115982467619,1.5811843413641875,0.71338606911949],"aabb_xy":[[-0.6607899004357087,1.5636098517900825],[-0.625633296057815,1.5987588309382925]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.650372390133469,-2.2379440024785087,0.71338606911949],"aabb_xy":[[0.5953801394979581,-2.2929440042218214],[0.70536464076898,-2.182944000735196]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[0.3204264072177634,-0.9347524314431346,0.71338606911949],"aabb_xy":[[0.2975106943327135,-0.9576567285795581],[0.3433421201028133,-0.9118481343067111]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[-0.07811513674040016,0.38874678191149803,0.71338606911949],"aabb_xy":[[-0.12809808692787947,0.33874678226893756],[-0.02813218655292082,0.4387467815540584]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.6412748884754604,-0.11063577974882755,0.71338606911949],"aabb_xy":[[0.5772748882014822,-0.1607018799461155],[0.7052748887494387,-0.06056967955153958]]}],"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":0.6485000474896885,"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/3455.png","name":"3455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3455.png","name":"3455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9130.png","name":"9130"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/704.png","name":"704"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4226.png","name":"4226"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4428.png","name":"4428"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":731.0168421108101,"rotation_z_degrees":182.9864840734821,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01880569540845951,0.01624882015739758,-0.017378430509491696]},{"name":"camera_2","offset_m":[-0.00948099339686848,0.014703067518000334,-0.0037918491702046316]},{"name":"camera_3","offset_m":[-0.013324180335014427,0.015211462848879049,-0.006647190518484707]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011734525490167467,0.0018692036192443245,-0.0007850163832597743],"end_effector_yaw_offset_degrees":-0.06175399306404117},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012534610941343067,-0.00029649620365470946,0.0013051432349899857],"end_effector_yaw_offset_degrees":-0.29223679675849645},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008202786986692382,0.0007158188581401709,0.000749016144680099],"end_effector_yaw_offset_degrees":0.6437338624155493}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004283885223733572,-0.0036483393968347946],"position_m":[0.22258388522373357,0.2635516606031652,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029019426859163734,0.0004155791761202062],"position_m":[0.21519805731408362,-0.35498442082387976,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015475773338208365,0.0026289614723676528],"position_m":[0.31515242266617916,-0.05657103852763235,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013731439400448478,-0.0036421396656675376],"position_m":[0.3578731439400448,0.16225786033433245,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"481218c1cd1c0044fd2f837207cf46971b047c357637bcd7c3afb681021d8945","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3455/tex_ceiling_textures_4428/tex_floor_textures_4226/tex_table_textures_9130/tex_wall_textures_704","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":4713754758698665521,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":4713754758698665521,"visual_seed":4713754758698665521,"scene_id":"lab_003","finished_at":"2026-09-04T16:33:17"} +{"episode_id":"ep_000016","started_at":"2026-09-04T16:33:20","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[0.5976815501044326,-1.9731469709526808,0.71338606911949],"aabb_xy":[[0.5601815501606662,-1.981440060987517],[0.635181550048199,-1.9648538809178437]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[-0.08140225838602877,-2.305234256879697,0.71338606911949],"aabb_xy":[[-0.16140226054879125,-2.3851894405058407],[-0.001402256223266271,-2.2252790732535535]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.2507511560021294,-2.4968345056488466,0.71338606911949],"aabb_xy":[[-0.260382792222559,-2.506471818428555],[-0.24111951978169976,-2.487197192869137]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.536921077766401,-1.4305127393884514,0.71338606911949],"aabb_xy":[[-0.6169210751699943,-1.5105053105866342],[-0.4569210803628075,-1.3505201681902685]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[0.20221339994352416,-1.9746683953773951,0.71338606911949],"aabb_xy":[[0.1809353918000519,-2.039668397703468],[0.22349140808699638,-1.9096683930513219]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[-0.33891839611709057,0.9072975103115679,0.71338606911949],"aabb_xy":[[-0.4189122196956488,0.8272975077187265],[-0.25892457253853235,0.9872975129044096]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[0.6206691741362322,1.7693655155845964,0.71338606911949],"aabb_xy":[[0.6082018160264966,1.756900190951273],[0.6331365322459679,1.78183084021792]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.5994330036809603,0.36773607628807037,0.71338606911949],"aabb_xy":[[0.5944769834960791,0.34523607608594875],[0.6043890238658415,0.39023607649019204]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[0.032119356765488716,-2.149182987157111,0.71338606911949],"aabb_xy":[[0.01444372617689038,-2.166863203436513],[0.04979498735408704,-2.1315027708777077]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.33372200352676695,-0.9366868122347494,0.71338606911949],"aabb_xy":[[0.2687220034924642,-0.9833874889150767],[0.3987220035610697,-0.8899861355544221]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.22962238340579105,-1.2989604818151088,0.71338606911949],"aabb_xy":[[-0.27961739436524313,-1.3489604808507007],[-0.17962737244633903,-1.2489604827795173]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[0.6191208449110988,1.6954577613920372,0.71338606911949],"aabb_xy":[[0.6078757893404808,1.684215963667942],[0.6303659004817165,1.7066995591161325]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.6334054071837265,-2.128591076653567,0.71338606911949],"aabb_xy":[[0.5784054075619807,-2.18357476944104],[0.6884054068054724,-2.0736073838660944]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[-0.5502365234167761,-1.7659311142449203,0.71338606911949],"aabb_xy":[[-0.5980426910305447,-1.8309311169519793],[-0.5024303558030074,-1.7009311115378614]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.07041149292035376,1.066054033345416,0.71338606911949],"aabb_xy":[[-0.10791149410514654,1.0616358106493553],[-0.032911491735560953,1.0704722560414763]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[0.3602859541293837,-0.6624456892938975,0.71338606911949],"aabb_xy":[[0.31031288859686823,-0.7124456891064304],[0.4102590196618992,-0.6124456894813646]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[-0.6543300392456657,-0.10896027248416029,0.71338606911949],"aabb_xy":[[-0.6887923866438073,-0.14345415488198296],[-0.6198676918475237,-0.07446639008633758]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.17479137503064213,-1.639602678588639,0.71338606911949],"aabb_xy":[[-0.22479137367656332,-1.6895222222481014],[-0.12479137638472093,-1.5896831349291767]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.6067951943914717,-0.4575999862263411,0.71338606911949],"aabb_xy":[[-0.656768488394732,-0.5075999867808885],[-0.5568219003882111,-0.40759998567179373]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[0.4119604833956769,-2.186856339672321,0.71338606911949],"aabb_xy":[[0.37949878251374936,-2.216989171787223],[0.44442218427760427,-2.1567235075574174]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.2611666347389861,-1.0276504911621576,0.71338606911949],"aabb_xy":[[-0.2861666340109484,-1.0439958547583197],[-0.23616663546702385,-1.011305127565995]]}],"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":0.650821495409486,"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/9771.png","name":"9771"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9771.png","name":"9771"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3961.png","name":"3961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9924.png","name":"9924"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9769.png","name":"9769"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1467.png","name":"1467"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":540.7601280313897,"rotation_z_degrees":66.84242919746873,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010802713952157244,0.016258929349732092,-0.006279214805074491]},{"name":"camera_2","offset_m":[0.007812698004914641,-0.016844503531948878,-0.01377823675787532]},{"name":"camera_3","offset_m":[0.003629677644467689,-0.004162775699238813,0.0029527524018716014]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003034674536543055,-0.0009664377926714507,-0.0003550948196549366],"end_effector_yaw_offset_degrees":0.2845399189601159},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016028745016243712,0.0009646971521785103,-0.001974536792881197],"end_effector_yaw_offset_degrees":0.5900221646819508},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010112600861971782,-0.0019373333729159055,-8.701103095235386e-05],"end_effector_yaw_offset_degrees":0.9001656675720262}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003478652451950643,0.0008860708840210899],"position_m":[0.21482134754804935,0.2680860708840211,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003136664215051329,0.004894582386755108],"position_m":[0.21496333578494867,-0.3505054176132449,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004999699861567953,0.0010138984243535957],"position_m":[0.32169969986156793,-0.05818610157564641,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00324656516965353,-0.0016201502582634851],"position_m":[0.35974656516965353,0.1642798497417365,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b703c4ecf5253c2e683a3b0ac38a274a7dd462b5a9fa871227e42c428b9b0a69","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0016.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9771/tex_ceiling_textures_1467/tex_floor_textures_9769/tex_table_textures_3961/tex_wall_textures_9924","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6440512716015199960,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6440512716015199960,"visual_seed":6440512716015199960,"scene_id":"lab_003","finished_at":"2026-09-04T16:36:10"} +{"episode_id":"ep_000017","started_at":"2026-09-04T16:36:13","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.6341996637350589,1.289162293921759,0.71338606911949],"aabb_xy":[[-0.6941996639864599,1.2348809688852942],[-0.5741996634836576,1.3434436189582235]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.34888398941319276,1.4989762005061213,0.71338606911949],"aabb_xy":[[0.30175461041135704,1.4349761994617192],[0.3960133684150284,1.562976201550523]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.6478272786682566,1.5479821078407494,0.71338606911949],"aabb_xy":[[-0.6551095950449201,1.45798210423124],[-0.6405449622915927,1.637982111450258]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.5417764835526684,0.07490671267532578,0.71338606911949],"aabb_xy":[[0.5352748470446638,0.06513889064901603],[0.548278120060673,0.08467453470163556]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[-0.13599668361638628,-1.7387834776682847,0.71338606911949],"aabb_xy":[[-0.172492504243665,-1.7752674200950422],[-0.09950086298910751,-1.702299535241527]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[0.6091823278212216,-2.4497890766194157,0.71338606911949],"aabb_xy":[[0.5757421526252018,-2.483232702450345],[0.642622503017241,-2.4163454507884845]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.3353554611676588,-1.8189300324691093,0.71338606911949],"aabb_xy":[[-0.3728554614598336,-1.8229715078697128],[-0.297855460875484,-1.8148885570685058]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.21274078387801765,0.8912039239403442,0.71338606911949],"aabb_xy":[[0.14874078748244457,0.8272406355216106],[0.2767407802735907,0.9551672123590778]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[0.5107727882523856,0.9692880486446196,0.71338606911949],"aabb_xy":[[0.4307727912381375,0.9491534969712083],[0.5907727852666335,0.9894226003180309]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.5987056337302703,-2.042939485214618,0.71338606911949],"aabb_xy":[[-0.6637056318861895,-2.0692357297645296],[-0.5337056355743514,-2.0166432406647052]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[0.1996424212190272,-0.8612977776038859,0.71338606911949],"aabb_xy":[[0.14451721558943642,-0.9212977790451731],[0.254767626848618,-0.8012977761625988]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[0.33441098129390423,-1.865926894790027,0.71338606911949],"aabb_xy":[[0.32399942261342046,-1.8712726281259249],[0.3448225399743879,-1.860581161454128]]},{"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_12","position":[0.5585462241008468,0.6667781071827079,0.71338606911949],"aabb_xy":[[0.4735462256834235,0.5819038117204229],[0.64354622251827,0.7516524026449929]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.16240722028995802,-2.168860577451005,0.71338606911949],"aabb_xy":[[0.1320091091908144,-2.199267479452674],[0.19280533138910158,-2.138453675449335]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.309616814861286,1.1910153471936806,0.71338606911949],"aabb_xy":[[-0.3137327649733586,1.1868997921608349],[-0.3055008647492133,1.195130902226526]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.5849435070675706,0.3657021092749422,0.71338606911949],"aabb_xy":[[-0.5929868669935258,0.2807021081795757],[-0.5769001471416154,0.45070211037030855]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.3337144550165789,0.9849921153687964,0.71338606911949],"aabb_xy":[[-0.33814508437141916,0.9795437436341137],[-0.3292838256617388,0.9904404871034789]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.4591958547303929,1.223421007815559,0.71338606911949],"aabb_xy":[[0.45193460715998557,1.2106339975520497],[0.4664571023008004,1.2362080180790687]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.42796565195877934,-0.4211204939533353,0.71338606911949],"aabb_xy":[[0.4133222464047463,-0.4357792136101195],[0.44260905751281227,-0.40646177429655095]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.17971218498349972,1.3857608160299577,0.71338606911949],"aabb_xy":[[-0.18675249491703674,1.3057608166302863],[-0.17267187504996276,1.465760815429629]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[0.3968875833662009,-2.557334243422803,0.71338606911949],"aabb_xy":[[0.3749789012268498,-2.579234910242893],[0.4187962655055519,-2.5354335766027116]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.3019406517595127,-0.44319307152805587,0.71338606911949],"aabb_xy":[[-0.3082527512958511,-0.44896001078127473],[-0.29562855222317425,-0.4374261322748371]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.6666041577086035,-2.217858734578877,0.71338606911949],"aabb_xy":[[0.6116119070730925,-2.27285873632219],[0.7215964083441144,-2.1628587328355646]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[-0.3271237586648758,0.728316463539576,0.71338606911949],"aabb_xy":[[-0.39112376034287316,0.6797990720602618],[-0.26312375698687845,0.7768338550188902]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.5498420477314032,-1.7350776569052702,0.71338606911949],"aabb_xy":[[-0.5748420476639211,-1.7419603251261937],[-0.5248420477988853,-1.728194988684347]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.6691712106884931,-0.017351737248126664,0.71338606911949],"aabb_xy":[[0.6604572416385583,-0.039851737907314874],[0.6778851797384273,0.0051482634110615625]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[-0.594941007399408,0.6125219200518699,0.71338606911949],"aabb_xy":[[-0.6199410069511465,0.6023794361867351],[-0.5699410078476695,0.6226644039170045]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_27","position":[0.5280224291912892,-1.6537943952340957,0.71338606911949],"aabb_xy":[[0.5051067163062394,-1.6766986923705196],[0.5509381420763392,-1.6308900980976726]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[0.4248098709848329,0.7033852150132831,0.71338606911949],"aabb_xy":[[0.4177684200340853,0.6963584632754886],[0.4318513219355805,0.7104119667510777]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_29","position":[-0.3737131443264985,-0.8566087975430006,0.71338606911949],"aabb_xy":[[-0.3962268361499557,-0.926608798144008],[-0.3511994525030413,-0.7866087969419929]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_30","position":[-0.36736390662492036,0.36915556619149337,0.71338606911949],"aabb_xy":[[-0.39064574882305164,0.2841555648942652],[-0.34408206442678896,0.4541555674887213]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_31","position":[-0.1507266127372059,0.7736277236426723,0.71338606911949],"aabb_xy":[[-0.16589878201883926,0.7584588667144689],[-0.13555444345557258,0.7887965805708756]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_32","position":[-0.016843060089919204,-1.438735495361446,0.71338606911949],"aabb_xy":[[-0.05184305998593807,-1.4471097308733858],[0.018156939806099667,-1.4303612598495057]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_33","position":[-0.19152196101881425,-2.05509333899564,0.71338606911949],"aabb_xy":[[-0.2066242624798323,-2.070194860626701],[-0.1764196595577961,-2.039991817364577]]}],"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":0.6438447946893592,"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/9014.png","name":"9014"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9014.png","name":"9014"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9750.png","name":"9750"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9271.png","name":"9271"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6910.png","name":"6910"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6109.png","name":"6109"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":708.1009547888743,"rotation_z_degrees":158.96384845152315,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015405073916498879,0.00642327908751383,0.004342079779841818]},{"name":"camera_2","offset_m":[-0.011909902474798138,-0.011692671593065463,0.012152590499346434]},{"name":"camera_3","offset_m":[0.01971053033996872,0.018357691183763947,-0.006315771656521396]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009461092672720349,0.000741952669475761,-8.997087330466684e-05],"end_effector_yaw_offset_degrees":0.7162190346526642},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000995537308760079,0.0004702950097903286,-0.0012262262889289532],"end_effector_yaw_offset_degrees":0.019415373037044548},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005923188733940679,-0.00013952595682640298,-0.0014238374241491475],"end_effector_yaw_offset_degrees":-0.04369497591044258}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003794213695122693,-0.004499187264157239],"position_m":[0.21792057863048772,0.2627008127358428,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0044020196739959026,0.0031217534052372905],"position_m":[0.2136979803260041,-0.3522782465947627,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00136676490350926,-0.0017921300452059074],"position_m":[0.3153332350964907,-0.06099213004520591,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036596185973182564,-0.002786648069386307],"position_m":[0.3528403814026817,0.1631133519306137,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eb0f4fcd09d3824b2a317f09c742c74e8ae7736cbe36d7c8bc46b650d2ae2b72","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9014/tex_ceiling_textures_6109/tex_floor_textures_6910/tex_table_textures_9750/tex_wall_textures_9271","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1628060625861404162,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1628060625861404162,"visual_seed":1628060625861404162,"scene_id":"lab_003","finished_at":"2026-09-04T16:39:02"} +{"episode_id":"ep_000018","started_at":"2026-09-04T16:39:05","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.11243988108613201,0.6710583354037958,0.71338606911949],"aabb_xy":[[0.09476425049753368,0.653378119124393],[0.13011551167473034,0.6887385516831985]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_1","position":[0.4076209559949453,-1.720076668342391,0.71338606911949],"aabb_xy":[[0.39678047776843045,-1.7372629496330392],[0.41846143422146026,-1.7028903870517418]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.6841359675751177,-0.5389290176954087,0.71338606911949],"aabb_xy":[[0.6767235120337293,-0.5447802281170366],[0.6915484231165062,-0.5330778072737807]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.47005751993237577,-0.8607485464656004,0.71338606911949],"aabb_xy":[[0.4509452125743969,-0.8798833253428424],[0.48916982729035463,-0.8416137675883584]]},{"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_4","position":[-0.2626124347148563,-1.6350293145988124,0.71338606911949],"aabb_xy":[[-0.29852593913984593,-1.6709428228155667],[-0.22669893028986654,-1.5991158063820576]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.6759317332433101,-1.3882110480194032,0.71338606911949],"aabb_xy":[[-0.6800476833553827,-1.3923266030522488],[-0.6718157831312374,-1.3840954929865577]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.2975092704417544,1.6250566556133612,0.71338606911949],"aabb_xy":[[-0.34749350614993163,1.5750566567998658],[-0.24752503473357718,1.675056654426857]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.60996247356725,0.9720196895965465,0.71338606911949],"aabb_xy":[[-0.6449624718779453,0.964304674673001],[-0.5749624752565544,0.9797347045200923]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.07493167393444355,-1.2318155839268718,0.71338606911949],"aabb_xy":[[0.05604729016593335,-1.2507015087072246],[0.09381605770295376,-1.212929659146519]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.4970868209938897,-2.022735360595478,0.71338606911949],"aabb_xy":[[0.4430712247119897,-2.0867353634877346],[0.5511024172757897,-1.9587353577032203]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[-0.6286709965416378,-0.026177478550067246,0.71338606911949],"aabb_xy":[[-0.6786539467291169,-0.07617747819262764],[-0.5786880463541583,0.02382252109249316]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[-0.5589673393628096,-0.6417640274538936,0.71338606911949],"aabb_xy":[[-0.6090648033438832,-0.7057640279637053],[-0.508869875381736,-0.5777640269440817]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.08245706958351606,1.1661472353134479,0.71338606911949],"aabb_xy":[[0.06495713614953269,1.1486472353932131],[0.09995700301749944,1.1836472352336822]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[0.38744052844483123,0.7865416722582985,0.71338606911949],"aabb_xy":[[0.36494052793279064,0.7640498138929],[0.40994052895687183,0.8090335306236968]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.23119636354218925,-2.1608239235974294,0.71338606911949],"aabb_xy":[[-0.29619636169810837,-2.1871201681473416],[-0.16619636538627022,-2.134527679047517]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.5737324673732087,1.4814712698226633,0.71338606911949],"aabb_xy":[[0.4937324641091956,1.4679112375137497],[0.6537324706372218,1.4950313021315764]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[0.5452487846754879,-2.523454319905066,0.71338606911949],"aabb_xy":[[0.4652487876612399,-2.543588871578477],[0.6252487816897359,-2.503319768231654]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.26218808105127733,-1.996751134523455,0.71338606911949],"aabb_xy":[[-0.2661485648210117,-2.0044189991089754],[-0.258227597281543,-1.9890832699379346]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[-0.16332840830956719,-1.7695441124890803,0.71338606911949],"aabb_xy":[[-0.22832841094736067,-1.8210237111885272],[-0.0983284056717737,-1.7180645137896333]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.35653425117737436,1.1185424987476877,0.71338606911949],"aabb_xy":[[-0.3673072250987422,1.083542500528649],[-0.34576127725600664,1.153542496966727]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.08071740173961162,0.9615541424700975,0.71338606911949],"aabb_xy":[[0.016717400331620957,0.9097651909461727],[0.14471740314760229,1.013343093994022]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[-0.16117429281598006,-1.3199050894435653,0.71338606911949],"aabb_xy":[[-0.2311742892259418,-1.3403430250952468],[-0.09117429640601822,-1.2994671537918834]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.04629861923954126,-1.4957345850070236,0.71338606911949],"aabb_xy":[[0.016331062329715595,-1.5257345853049096],[0.07626617614936693,-1.465734584709138]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[-0.5918155430632973,-0.8043956110834436,0.71338606911949],"aabb_xy":[[-0.5998095316410006,-0.8123956911785339],[-0.5838215544855938,-0.7963955309883533]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_24","position":[-0.530047853089295,-1.7058891114253742,0.71338606911949],"aabb_xy":[[-0.5376721211794733,-1.7135223349619182],[-0.5224235849991168,-1.6982558878888308]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[-0.15301585221107084,-1.4303337707198656,0.71338606911949],"aabb_xy":[[-0.16217573115494743,-1.4368649887634026],[-0.14385597326719424,-1.4238025526763285]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_26","position":[0.6430050216811314,-0.66351136737415,0.71338606911949],"aabb_xy":[[0.6085426742829894,-0.6980052497719725],[0.677467369079273,-0.6290174849763271]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[0.5481641268516266,-2.209786099710448,0.71338606911949],"aabb_xy":[[0.5377525681711428,-2.2151318330463465],[0.5585756855321102,-2.2044403663745498]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_28","position":[-0.4300541963785917,-2.364974417412836,0.71338606911949],"aabb_xy":[[-0.4522267233552425,-2.387150084568959],[-0.4078816694019408,-2.342798750256713]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_29","position":[0.19496953767890113,-1.785602762335185,0.71338606911949],"aabb_xy":[[0.13496953603597928,-1.8376029116271293],[0.254969539321823,-1.733602613043241]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_30","position":[-0.006237538143496146,-1.9912948207041314,0.71338606911949],"aabb_xy":[[-0.04123753733631441,-2.0022618667017937],[0.02876246104932212,-1.9803277747064683]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_31","position":[0.020842538231866103,-1.0536433505583018,0.71338606911949],"aabb_xy":[[-0.02863788298209269,-1.1176433484711537],[0.0703229594458249,-0.98964335264545]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_32","position":[0.38232334082370323,-1.5144371732605535,0.71338606911949],"aabb_xy":[[0.3448233393080715,-1.5256639462766983],[0.41982334233933494,-1.5032104002444082]]}],"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":0.647969551107033,"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/7017.png","name":"7017"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7017.png","name":"7017"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7403.png","name":"7403"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1103.png","name":"1103"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6945.png","name":"6945"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3927.png","name":"3927"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":772.5890740719813,"rotation_z_degrees":319.13875652835026,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004107600681401476,0.002326136941543107,-0.0033301212413259507]},{"name":"camera_2","offset_m":[0.01156591199638966,-0.007752662869941283,0.0024629586350909255]},{"name":"camera_3","offset_m":[-0.002910019963262664,0.011283209162615725,-0.01972327260820175]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005194460578923383,0.001102636188592691,-0.0005281907743271543],"end_effector_yaw_offset_degrees":-0.9142410487571653},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001242111867962458,-0.0016438845878356013,0.0006438552988779558],"end_effector_yaw_offset_degrees":0.8909748135786832},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007986870448150243,-0.001346151053118239,-0.0012867088128830795],"end_effector_yaw_offset_degrees":0.2576704344553391}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025192975160028544,0.0013064865470460915],"position_m":[0.22081929751600285,0.26850648654704606,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016835455929416262,0.001599140310421473],"position_m":[0.2197835455929416,-0.35380085968957853,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002359007111283142,-0.004756020932428722],"position_m":[0.3190590071112831,-0.06395602093242872,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034868788160217646,-0.0005522934543032501],"position_m":[0.3530131211839782,0.16534770654569675,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20af7fc59a7584afd67c8536e6ee28a12828bd77ccc6f3dd4f19ab8a994c761a","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7017/tex_ceiling_textures_3927/tex_floor_textures_6945/tex_table_textures_7403/tex_wall_textures_1103","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6477028306348529387,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6477028306348529387,"visual_seed":6477028306348529387,"scene_id":"lab_003","finished_at":"2026-09-04T16:42:01"} +{"episode_id":"ep_000019","started_at":"2026-09-04T16:42:04","dimensions":{"distractor":{"count":33,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[-0.5340343451289064,-0.24669351046523147,0.71338606911949],"aabb_xy":[[-0.6240343488058243,-0.3081259170423358],[-0.44403434145198795,-0.18526110388812708]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[-0.5687160733761907,-1.9906201075855123,0.71338606911949],"aabb_xy":[[-0.6062160736683655,-1.9946615829861156],[-0.5312160730840159,-1.9865786321849086]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[-0.5639158826971611,-0.4589366085457738,0.71338606911949],"aabb_xy":[[-0.6339158845059065,-0.4802903773099612],[-0.49391588088841565,-0.43758283978158646]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[0.3650341027897952,-2.5280182363083736,0.71338606911949],"aabb_xy":[[0.35240731550259885,-2.537564310009946],[0.37766089007699155,-2.5184721626068005]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[-0.11497279015493111,0.9282163581429783,0.71338606911949],"aabb_xy":[[-0.12289607039367945,0.9057163579049751],[-0.10704950991618278,0.9507163583809818]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[0.3417370856996804,1.1537734326568585,0.71338606911949],"aabb_xy":[[0.3167370865340473,1.146821186951502],[0.36673708486531353,1.160725678362215]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.0028604812722425876,-0.7246589529983687,0.71338606911949],"aabb_xy":[[-0.009901932222990184,-0.7316857047361633],[0.004180969678505009,-0.7176322012605743]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.2824826460448443,-1.892944549140113,0.71338606911949],"aabb_xy":[[0.27840448813779456,-1.8970255293883762],[0.28656080395189404,-1.8888635688918496]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[0.40155232243657424,-1.4324640538955487,0.71338606911949],"aabb_xy":[[0.3935583338588708,-1.4404641339906388],[0.4095463110142776,-1.424463973800458]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[0.1556199669951588,0.6368147770178956,0.71338606911949],"aabb_xy":[[0.0906199688392397,0.6105185324679834],[0.22061996515107782,0.6631110215678078]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.15665335680944625,1.5895620654809481,0.71338606911949],"aabb_xy":[[-0.2116533550111911,1.5490400988545103],[-0.10165335860770143,1.6300840321073855]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[-0.11540540998924986,0.2946624817364949,0.71338606911949],"aabb_xy":[[-0.13791910181270706,0.2246624811354873],[-0.09289171816579266,0.36466248233750237]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[-0.41120255876923745,-0.6889325435758014,0.71338606911949],"aabb_xy":[[-0.4288353943627649,-0.7065554895914242],[-0.39356972317570976,-0.6713095975601783]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[-0.6128670710834913,1.0396022451913574,0.71338606911949],"aabb_xy":[[-0.6201283186538986,1.026815234927848],[-0.6056058235130839,1.052389255454867]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[0.007018221857025941,-2.2232296716157434,0.71338606911949],"aabb_xy":[[-0.030481778640332302,-2.227198355163862],[0.044518222354384185,-2.219260988067625]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.20602991335671822,-1.0490076386635965,0.71338606911949],"aabb_xy":[[-0.2134423688981067,-1.0548588490852244],[-0.19861745781532975,-1.0431564282419685]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.1169716417450235,0.729689015496537,0.71338606911949],"aabb_xy":[[-0.14055676520891838,0.6646890132511052],[-0.09338651828112868,0.7946890177419688]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.27542400673503437,-2.227474893666404,0.71338606911949],"aabb_xy":[[-0.2793844905047687,-2.2351427582519245],[-0.2714635229652999,-2.2198070290808833]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[0.21221619146462833,-1.180592638358757,0.71338606911949],"aabb_xy":[[0.1747161899489966,-1.191819411374902],[0.24971619298026002,-1.169365865342612]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.16841406404696957,-2.2513665226470136,0.71338606911949],"aabb_xy":[[0.1540796389208061,-2.2634267382015523],[0.182748489173133,-2.239306307092475]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[-0.37592046517738475,0.36259576701959695,0.71338606911949],"aabb_xy":[[-0.4459204685689467,0.3272799933161661],[-0.3059204617858227,0.3979115407230278]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[-0.3385775708806422,-2.047144034217056,0.71338606911949],"aabb_xy":[[-0.3885724038085838,-2.0971440331122997],[-0.2885827379527006,-1.9971440353218126]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[0.5426742885151536,-0.5252768400545018,0.71338606911949],"aabb_xy":[[0.49257682453408014,-0.5892768405643137],[0.5927717524962274,-0.4612768395446901]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.5907072665493186,0.04265436988913773,0.71338606911949],"aabb_xy":[[-0.5979510325955639,-0.03734562831446464],[-0.5834635005030733,0.12265436809274011]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[0.6700806761355469,1.3303270943112202,0.71338606911949],"aabb_xy":[[0.6160650798536469,1.266327091418963],[0.7240962724174469,1.3943270972034774]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[0.5683554951717857,-1.5821103275610164,0.71338606911949],"aabb_xy":[[0.4883554948981787,-1.6550598753867332],[0.6483554954453926,-1.5091607797352997]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.151136683449837,-1.8487716862931172,0.71338606911949],"aabb_xy":[[0.1451701445091012,-1.8547328309524813],[0.15710322239057278,-1.842810541633753]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_27","position":[-0.20920061087098152,-0.5235475341244196,0.71338606911949],"aabb_xy":[[-0.27920061300241106,-0.546309499750115],[-0.13920060873955195,-0.5007855684987237]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_28","position":[0.37914433386007906,0.5190975553275452,0.71338606911949],"aabb_xy":[[0.34164433391631266,0.5108044652927085],[0.41664433380384547,0.5273906453623817]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_29","position":[-0.0897484669423192,-0.6698425580423213,0.71338606911949],"aabb_xy":[[-0.12678257637037887,-0.7042197653760306],[-0.052714357514259465,-0.6354653507086118]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_30","position":[0.5233650008542048,-0.9252090095983783,0.71338606911949],"aabb_xy":[[0.43336500225973484,-0.9414595959117993],[0.6133649994486747,-0.9089584232849572]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_31","position":[-0.5224335657076967,0.7878877087578284,0.71338606911949],"aabb_xy":[[-0.5599335664996922,0.7815198677996382],[-0.4849335649157013,0.7942555497160184]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_32","position":[0.591520528700296,-2.4013666138033165,0.71338606911949],"aabb_xy":[[0.5115205272701687,-2.480883768815926],[0.6715205301304231,-2.321849458790707]]}],"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":0.6515000432094807,"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/9464.png","name":"9464"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9464.png","name":"9464"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4430.png","name":"4430"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4503.png","name":"4503"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/577.png","name":"577"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5879.png","name":"5879"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":735.897667021696,"rotation_z_degrees":18.928997304128302,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016882673607876073,-0.01041147294934396,-0.0010792030843850726]},{"name":"camera_2","offset_m":[-0.017701978330766456,0.009021163275119332,-0.005060074006215106]},{"name":"camera_3","offset_m":[0.019089120413997008,-0.016425639048166844,0.011490985094179545]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001396496622404079,-0.00018909789492311375,-0.0007543177149444561],"end_effector_yaw_offset_degrees":0.72273182023492},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005560194733327628,0.00029190617563254993,-0.0010712339754045477],"end_effector_yaw_offset_degrees":-0.3146752414945926},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00018600203835487678,0.0005650425006451525,0.00023842443374912743],"end_effector_yaw_offset_degrees":0.6895442099149396}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002820355175051674,-0.0046927235376786015],"position_m":[0.21547964482494833,0.2625072764623214,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003841570743393841,-0.0015525876260392168],"position_m":[0.22194157074339382,-0.3569525876260392,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026545911659051694,0.0027847030036160236],"position_m":[0.31935459116590514,-0.05641529699638398,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008193846765061951,-0.0029882924143469426],"position_m":[0.35568061532349377,0.16291170758565304,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"964dd912fcc4717f8321d4db7933fbc7e63b007ae97eb069e451968d140b7fdb","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9464/tex_ceiling_textures_5879/tex_floor_textures_577/tex_table_textures_4430/tex_wall_textures_4503","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":9193657577283157079,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":9193657577283157079,"visual_seed":9193657577283157079,"scene_id":"lab_003","finished_at":"2026-09-04T16:44:52"} +{"episode_id":"ep_000020","started_at":"2026-09-04T16:44:55","dimensions":{"distractor":{"count":35,"items":[{"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_0","position":[0.18099548433274204,-2.1378086981787936,0.71338606911949],"aabb_xy":[[0.17229752204202678,-2.1499336724862683],[0.18969344662345738,-2.125683723871319]]},{"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_1","position":[0.5270036004838838,0.390411928124879,0.71338606911949],"aabb_xy":[[0.4420036020664606,0.305537632662594],[0.6120035989013071,0.47528622358716394]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.1648109851182029,-2.5151713593493845,0.71338606911949],"aabb_xy":[[0.08481098713741787,-2.5227729003112365],[0.24481098309898797,-2.5075698183875326]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.06890414596582095,-1.1485281908764515,0.71338606911949],"aabb_xy":[[0.01890931303787935,-1.1985281897716948],[0.11889897889376255,-1.0985281919812078]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.28601507237539525,-0.5729078550076143,0.71338606911949],"aabb_xy":[[-0.2941427605687085,-0.5818214634183221],[-0.27788738418208203,-0.5639942465969068]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.014443437092288458,-1.7785288840416777,0.71338606911949],"aabb_xy":[[-0.0230565627247451,-1.7831670953528196],[0.051943436909322016,-1.773890672730536]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.3579042103433757,-2.192643867241327,0.71338606911949],"aabb_xy":[[-0.3841930346638163,-2.218915300895978],[-0.331615386022935,-2.1663724335866754]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.308509402034822,-2.3594799608721493,0.71338606911949],"aabb_xy":[[0.2385094056248601,-2.37991789652383],[0.37850939844478365,-2.3390420252204667]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.5112810666390168,-1.1187597818073434,0.71338606911949],"aabb_xy":[[-0.5487810678238094,-1.1231780045034037],[-0.4737810654542239,-1.1143415591112826]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[0.37591567032725903,-1.8747007286948594,0.71338606911949],"aabb_xy":[[0.3109156717701862,-1.9044532621087422],[0.44091566888433187,-1.844948195280977]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.19401200510905492,-1.7841168737601159,0.71338606911949],"aabb_xy":[[0.1565120047608272,-1.7959082693411992],[0.2315120054572827,-1.772325478179032]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.18360087585765528,0.7262549811630152,0.71338606911949],"aabb_xy":[[0.1781429302206352,0.6462549778553561],[0.18905882149467534,0.8062549844706743]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[-0.19715613545262872,0.3030615593902266,0.71338606911949],"aabb_xy":[[-0.2771561341095147,0.2885567004659638],[-0.11715613679574269,0.3175664183144894]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.4741738639296088,-2.4636885444085985,0.71338606911949],"aabb_xy":[[-0.4888172694836418,-2.4783472640653827],[-0.4595304583755758,-2.4490298247518143]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.14659642629375735,-0.2906353267244053,0.71338606911949],"aabb_xy":[[-0.22659642488107679,-0.3699509286625662],[-0.06659642770643794,-0.21131972478624442]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[0.6548929663877239,-1.3079071349055067,0.71338606911949],"aabb_xy":[[0.6323929661442086,-1.3201117695652786],[0.6773929666312394,-1.2957025002457347]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[0.018929900411752576,0.9066419180238308,0.71338606911949],"aabb_xy":[[-0.016699255488207165,0.8710092512669779],[0.05455905631171232,0.9422745847806838]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.5540667398405037,-1.5449484918280387,0.71338606911949],"aabb_xy":[[-0.596833446719924,-1.6089484952498412],[-0.5113000329610836,-1.4809484884062363]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.6162186050486522,1.559147234866559,0.71338606911949],"aabb_xy":[[-0.6338942356372504,1.541467018587156],[-0.5985429744600538,1.5768274511459615]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[-0.6690296600019305,-1.972511594670787,0.71338606911949],"aabb_xy":[[-0.676311976378594,-2.0625115982802957],[-0.6617473436252667,-1.8825115910612777]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.4508477715448087,-1.4042353838596693,0.71338606911949],"aabb_xy":[[0.39585552090929776,-1.459235385602982],[0.5058400221803196,-1.3492353821163565]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.2157344070630708,1.556199857799339,0.71338606911949],"aabb_xy":[[-0.2857344091945003,1.5334378921736433],[-0.14573440493164122,1.5789618234250347]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[0.1818987640267299,-2.3770731708538837,0.71338606911949],"aabb_xy":[[0.17255175644443466,-2.3913767930715273],[0.19124577160902512,-2.3627695486362392]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[-0.006159525869550819,1.7657261351711377,0.71338606911949],"aabb_xy":[[-0.02743753401302307,1.7007261328450645],[0.01511848227392143,1.8307261374972106]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[0.3685000860948413,0.6584835889315692,0.71338606911949],"aabb_xy":[[0.27850008959396955,0.6125719465131109],[0.45850008259571307,0.7043952313500274]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_25","position":[-0.5064223175166255,-1.0072920789361088,0.71338606911949],"aabb_xy":[[-0.5414223174931213,-1.0167566949837252],[-0.47142231754012964,-0.997827462888492]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_26","position":[0.5442930483743931,1.7911615766150644,0.71338606911949],"aabb_xy":[[0.5118313474924654,1.7610287445001613],[0.5767547492563203,1.8212944087299665]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_27","position":[-0.09215300454784503,-2.207678408748767,0.71338606911949],"aabb_xy":[[-0.18215300396621592,-2.2410539055929566],[-0.0021530051294741254,-2.174302911904577]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[-0.6557087600762455,-1.156049012840739,0.71338606911949],"aabb_xy":[[-0.6664817339976132,-1.191049011059778],[-0.6449357861548777,-1.1210490146217]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_29","position":[0.3771655991361127,-1.7699662975029704,0.71338606911949],"aabb_xy":[[0.36206329767509454,-1.7850678191340317],[0.39226790059713074,-1.7548647758719078]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_30","position":[0.35902276849220915,1.247969250707217,0.71338606911949],"aabb_xy":[[0.3090227674730739,1.2115030349693894],[0.4090227695113445,1.2844354664450452]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_31","position":[0.6163692661996718,1.4479003402880575,0.71338606911949],"aabb_xy":[[0.5523692659256936,1.3978342400907693],[0.68036926647365,1.4979664404853452]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_32","position":[-0.003988144747854916,1.547147128314069,0.71338606911949],"aabb_xy":[[-0.05398814640934967,1.497148686058366],[0.04601185691363984,1.5971455705697715]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_33","position":[0.11881433859003376,-0.6640703847875098,0.71338606911949],"aabb_xy":[[0.058814336947111925,-0.716070534079454],[0.17881434023295562,-0.6120702354955656]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_34","position":[-0.08533979056581198,0.6270056617887549,0.71338606911949],"aabb_xy":[[-0.12283979106317022,0.6230369782406365],[-0.047839790068453736,0.6309743453368734]]}],"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":0.6454267694849103,"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/3256.png","name":"3256"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3256.png","name":"3256"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5591.png","name":"5591"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3494.png","name":"3494"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/837.png","name":"837"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8254.png","name":"8254"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":593.8260940344067,"rotation_z_degrees":102.86686170794532,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010212461470837465,-0.018274349699201095,0.007972561551895452]},{"name":"camera_2","offset_m":[0.0046417664738160926,0.005845682563937322,0.017357225475637544]},{"name":"camera_3","offset_m":[0.0057616364204244284,-0.011760497656219244,0.017649546173201382]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014285379645640388,0.0018877215825669025,0.0015811935217241052],"end_effector_yaw_offset_degrees":0.4594754005650383},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017860781771340682,0.00033525377249169494,-0.0006191934446038428],"end_effector_yaw_offset_degrees":0.3770021675445132},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001537848711615392,-0.0018191242579283355,0.0011539817009190265],"end_effector_yaw_offset_degrees":-0.8822611923884958}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038814001422445904,0.0036841936132345253],"position_m":[0.22218140014224458,0.2708841936132345,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003000347869688176,-0.0008997761655793347],"position_m":[0.21509965213031182,-0.35629977616557934,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018719248665109902,-0.0006728419093517315],"position_m":[0.314828075133489,-0.059872841909351736,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037168734314981756,0.00010673092633207461],"position_m":[0.3527831265685018,0.16600673092633206,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d40d4d1d80387cae207f918f10a1130675e4b1d0fe521a5bd35077f5d1142467","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3256/tex_ceiling_textures_8254/tex_floor_textures_837/tex_table_textures_5591/tex_wall_textures_3494","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1072952969337891591,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1072952969337891591,"visual_seed":1072952969337891591,"scene_id":"lab_003","finished_at":"2026-09-04T16:47:54"} +{"episode_id":"ep_000021","started_at":"2026-09-04T16:47:57","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.6861519294140033,-2.115180289048601,0.71338606911949],"aabb_xy":[[0.6773707022667671,-2.123960036337132],[0.6949331565612397,-2.1064005417600713]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.5480388351388819,-2.002345103931261,0.71338606911949],"aabb_xy":[[-0.5980336680668235,-2.0523451028265045],[-0.49804400221094025,-1.9523451050360174]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[0.6597458527812059,-0.29657192887379935,0.71338606911949],"aabb_xy":[[0.6047458536046163,-0.35156160364875694],[0.7147458519577953,-0.24158225409884165]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.020911568854756868,0.8610907671968944,0.71338606911949],"aabb_xy":[[-0.02517352239997461,0.7970907699443391],[0.06699666010948833,0.9250907644494494]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[-0.424741582450335,0.17420669709547854,0.71338606911949],"aabb_xy":[[-0.4399137517319683,0.1590378401672752],[-0.4095694131687016,0.18937555402368192]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[-0.5588128081249298,-1.583834064376403,0.71338606911949],"aabb_xy":[[-0.5643944797590584,-1.5963340641941783],[-0.553231136490801,-1.5713340645586273]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.18768645338995527,0.1027800767457685,0.71338606911949],"aabb_xy":[[-0.20985898036660608,0.08060440958964532],[-0.16551392641330442,0.12495574390189167]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.5906532427577356,-0.347297626748146,0.71338606911949],"aabb_xy":[[-0.654648940152832,-0.4112976250488547],[-0.5266575453626389,-0.28329762844743733]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.5264618045787985,-2.053620229913195,0.71338606911949],"aabb_xy":[[0.5064033929655583,-2.0736853168223526],[0.5465202161920388,-2.0335551430040377]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[0.11351408581584,1.6980561060124395,0.71338606911949],"aabb_xy":[[0.03351408783505493,1.6904545650505873],[0.19351408379662502,1.7056576469742912]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.3772889398606583,-2.1368317473830336,0.71338606911949],"aabb_xy":[[-0.39917868744959906,-2.2268317446722827],[-0.35539919227171746,-2.0468317500937845]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[0.6383448746631766,0.8983789111784515,0.71338606911949],"aabb_xy":[[0.5743448773775279,0.8568721922256075],[0.7023448719488252,0.9398856301312954]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.6005584095765764,-0.5261253603021365,0.71338606911949],"aabb_xy":[[0.5577917026971562,-0.5901253637239389],[0.6433251164559965,-0.46212535688033396]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.07276459680359959,1.3524536972514039,0.71338606911949],"aabb_xy":[[-0.11401340783351431,1.2974536977391862],[-0.03151578577368485,1.407453696763621]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.10814790832710008,-1.5072852146211597,0.71338606911949],"aabb_xy":[[-0.11614139812238213,-1.5152833465616358],[-0.10015441853181807,-1.4992870826806843]]},{"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_15","position":[-0.12034073138641843,-1.9665523743536482,0.71338606911949],"aabb_xy":[[-0.12643535927453675,-1.975121768905317],[-0.11424610349830011,-1.9579829798019797]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.09053655189186616,-0.09184131447267996,0.71338606911949],"aabb_xy":[[-0.10016818811229576,-0.10147862725238889],[-0.08090491567143653,-0.08220400169297105]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[-0.316454131066017,-1.8462864289025358,0.71338606911949],"aabb_xy":[[-0.32892148917575265,-1.8587517535358593],[-0.30398677295628135,-1.8338211042692123]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.5782144993063513,0.12278849620864563,0.71338606911949],"aabb_xy":[[-0.6280971961840476,0.07278849696237087],[-0.5283318024286552,0.17278849545492037]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[-0.4824932178646586,-0.6606676830165163,0.71338606911949],"aabb_xy":[[-0.5049896392985227,-0.6831676828232638],[-0.4599967964307945,-0.6381676832097689]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[-0.40126410823063796,1.5210180725761258,0.71338606911949],"aabb_xy":[[-0.4912641076490088,1.4876425757319358],[-0.311264108812267,1.5543935694203153]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.2940584594799477,1.2213342240947758,0.71338606911949],"aabb_xy":[[0.23005846018577947,1.1573480837259216],[0.3580584587741159,1.28532036446363]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[0.20974876373749007,-1.4897125537204166,0.71338606911949],"aabb_xy":[[0.13974876732752822,-1.5101504893720976],[0.27974876014745176,-1.4692746180687342]]},{"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_23","position":[0.1728366530201776,-2.2012403186719256,0.71338606911949],"aabb_xy":[[0.16354303478302698,-2.2387403171600595],[0.18213027125732814,-2.1637403201837917]]}],"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":0.6496722671966143,"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/8857.png","name":"8857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8857.png","name":"8857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8379.png","name":"8379"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4081.png","name":"4081"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3599.png","name":"3599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9808.png","name":"9808"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":658.5642278942139,"rotation_z_degrees":128.41259313354502,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008333316627600609,-0.010537945876337638,0.008305295768298155]},{"name":"camera_2","offset_m":[0.007727944676968197,-0.007580339130560039,-0.012290662313539969]},{"name":"camera_3","offset_m":[-0.00023308543075530042,-0.019658314179026224,-0.013164199054844849]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008385267647726517,-0.0005611012387399211,0.0017058503413678269],"end_effector_yaw_offset_degrees":0.04345245596666958},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-7.870127273091579e-05,-0.0019818841720402923,0.0018214065460464015],"end_effector_yaw_offset_degrees":0.5001119853610287},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00017838074218828924,0.00045826643440066836,-0.0007373359731791468],"end_effector_yaw_offset_degrees":-0.5243096906864104}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003713537728915621,0.004326688117787888],"position_m":[0.2220135377289156,0.2715266881177879,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004272875059213979,0.0024599936910436847],"position_m":[0.22237287505921396,-0.35294000630895633,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004401383175641001,0.003547343120617853],"position_m":[0.32110138317564096,-0.05565265687938215,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011875928047384429,-0.0002339202719647904],"position_m":[0.35768759280473844,0.1656660797280352,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d63c3cb80ec02a338460e1cbd87ef86f233afa903e6de4282438438907208fd3","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0021.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8857/tex_ceiling_textures_9808/tex_floor_textures_3599/tex_table_textures_8379/tex_wall_textures_4081","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2423256192458127599,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2423256192458127599,"visual_seed":2423256192458127599,"scene_id":"lab_003","finished_at":"2026-09-04T16:50:55"} +{"episode_id":"ep_000022","started_at":"2026-09-04T16:50:58","dimensions":{"distractor":{"count":24,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.025604549968587964,0.8328200111355231,0.71338606911949],"aabb_xy":[[-0.0643954497545862,0.8097466586003431],[0.11560454969176213,0.8558933636707028]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.20966169584237493,-0.6673979261530312,0.71338606911949],"aabb_xy":[[-0.28966169449926094,-0.6819027850772941],[-0.12966169718548895,-0.6528930672287685]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[0.14955612443849842,-0.9908293835249,0.71338606911949],"aabb_xy":[[0.09955612579257722,-1.0407489271843624],[0.1995561230844196,-0.9409098398654376]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.5316410941709444,-1.8627125209180821,0.71338606911949],"aabb_xy":[[-0.6116410915745377,-1.942705092116265],[-0.4516410967673509,-1.7827199497198993]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[-0.2846724391983129,-0.1940362670864073,0.71338606911949],"aabb_xy":[[-0.34967244183610635,-0.24551586578585427],[-0.21967243656051938,-0.14255666838696035]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.09737685109422345,1.7824717030096253,0.71338606911949],"aabb_xy":[[0.09033540014347585,1.7754449512718309],[0.10441830204497105,1.7894984547474198]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[0.15664288976520202,-1.1626362589202373,0.71338606911949],"aabb_xy":[[0.11147157191703305,-1.2266362560647757],[0.20181420761337102,-1.0986362617756988]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.29163639113136053,-1.7540719501582385,0.71338606911949],"aabb_xy":[[-0.2957722474640608,-1.7915719496025955],[-0.2875005347986604,-1.7165719507138815]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.030590606570441325,-1.2615672018863322,0.71338606911949],"aabb_xy":[[-0.0350212359252815,-1.267015573621015],[-0.026159977215601152,-1.2561188301516495]]},{"name":"lh_cell_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_9","position":[0.35650917469866594,-1.0024243726500774,0.71338606911949],"aabb_xy":[[0.2925091739951966,-1.0484427551229984],[0.42050917540213534,-0.9564059901771564]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.6164269138780221,-2.117485409012873,0.71338606911949],"aabb_xy":[[0.6109689682410019,-2.197485412320532],[0.621884859515042,-2.0374854057052136]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.08949523587727215,-2.437405006466,0.71338606911949],"aabb_xy":[[-0.1534952391669802,-2.4807399254699174],[-0.025495232587564014,-2.394070087462082]]},{"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_12","position":[0.6545601901152747,-0.11462813814993966,0.71338606911949],"aabb_xy":[[0.6170601899434026,-0.14732887353284685],[0.6920601902871465,-0.08192740276703248]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.007138927200781131,-0.6711062807180057,0.71338606911949],"aabb_xy":[[0.0022953324395511574,-0.6759579331969899],[0.011982521962011106,-0.6662546282390217]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[0.24824064491761766,0.5381831282379816,0.71338606911949],"aabb_xy":[[0.2394594177703815,0.5294033809494516],[0.25702187206485394,0.5469628755265119]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[0.26364786769757,1.6735932691883177,0.71338606911949],"aabb_xy":[[0.2571462311895654,1.6638254471620082],[0.27014950420557465,1.6833610912146277]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.370635881613429,1.0122911884714973,0.71338606911949],"aabb_xy":[[0.3331358811160707,1.0083225049233788],[0.40813588211078716,1.0162598720196159]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.5920895434260245,1.6868417047125166,0.71338606911949],"aabb_xy":[[-0.6166357590487752,1.6565928081634793],[-0.5675433278032738,1.7170906012615534]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.5186267093009971,0.09091650891852954,0.71338606911949],"aabb_xy":[[0.5011267090416605,0.07682496672975693],[0.5361267095603337,0.10500805110730219]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[-0.045210866312793585,0.3075591448596562,0.71338606911949],"aabb_xy":[[-0.05954529143895704,0.29549892930511734],[-0.030876441186630132,0.31961936041419503]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[-0.00604435816768889,-1.6758557681260102,0.71338606911949],"aabb_xy":[[-0.013326674544352542,-1.7658557717355188],[0.001237958208974766,-1.5858557645165008]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[-0.009338355370690055,-2.110982645278832,0.71338606911949],"aabb_xy":[[-0.07333835704868741,-2.159500036758146],[0.0546616463073073,-2.0624652537995174]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[-0.6244853998729556,-1.374781564903989,0.71338606911949],"aabb_xy":[[-0.6414954971630061,-1.3909160534022629],[-0.6074753025829048,-1.358647076405715]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[0.6491459601622545,-1.4510866825195736,0.71338606911949],"aabb_xy":[[0.6410323054888774,-1.4591924989736025],[0.6572596148356316,-1.4429808660655443]]}],"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":0.6484104344435401,"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/8425.png","name":"8425"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8425.png","name":"8425"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8092.png","name":"8092"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5741.png","name":"5741"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5778.png","name":"5778"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4524.png","name":"4524"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":727.7661743850638,"rotation_z_degrees":37.21907439837037,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014265471168628707,-0.005446324013170538,-0.01888037219450897]},{"name":"camera_2","offset_m":[-0.017775754719237157,-0.015412163670421718,-0.013210228442799026]},{"name":"camera_3","offset_m":[0.014053015368135992,0.016254066820918064,0.015247658550054565]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018845702586328282,-0.0004625617241473209,2.8096795892503836e-05],"end_effector_yaw_offset_degrees":-0.02559727332055095},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012606232421225158,0.001049906103935766,0.0006874467537779936],"end_effector_yaw_offset_degrees":-0.4740370131827236},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016565740455709408,0.0005944327174139006,-0.0018960455157332747],"end_effector_yaw_offset_degrees":0.12573499284189826}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026187105536439525,0.0007779312070956088],"position_m":[0.22091871055364395,0.2679779312070956,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00025308447246009426,-0.0014549414968426343],"position_m":[0.2178469155275399,-0.3568549414968426,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004193337887138903,0.004429882180118861],"position_m":[0.32089333788713886,-0.05477011781988114,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008605546867052581,0.004427221953999807],"position_m":[0.3556394453132947,0.1703272219539998,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5b287f4f09bc81db3231b77f835be5008a004157faf09e2bca32e3f721cf4632","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8425/tex_ceiling_textures_4524/tex_floor_textures_5778/tex_table_textures_8092/tex_wall_textures_5741","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1903558538863006243,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1903558538863006243,"visual_seed":1903558538863006243,"scene_id":"lab_003","finished_at":"2026-09-04T16:53:54"} +{"episode_id":"ep_000023","started_at":"2026-09-04T16:53:57","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.10227074419982352,-0.9620482027635557,0.71338606911949],"aabb_xy":[[-0.172270745802103,-0.9754809959652133],[-0.03227074259754403,-0.9486154095618982]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[0.29776442140966963,-2.1168352572661706,0.71338606911949],"aabb_xy":[[0.21776441924690715,-2.1967904408923142],[0.3777644235724321,-2.036880073640027]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[0.4372448336395176,1.507865397047238,0.71338606911949],"aabb_xy":[[0.3997448324547248,1.5034471743511775],[0.4747448348243104,1.5122836197432985]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[-0.5324420427442899,-1.189984809972437,0.71338606911949],"aabb_xy":[[-0.5543507248836408,-1.2118854767925278],[-0.5105333606049387,-1.1680841431523463]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[0.5940641138880127,-2.502842890859996,0.71338606911949],"aabb_xy":[[0.5597478367133948,-2.5528428908331735],[0.6283803910626307,-2.452842890886818]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.6501841598737358,0.8227427006294947,0.71338606911949],"aabb_xy":[[-0.6677624620626826,0.8051682110553899],[-0.6326058576847889,0.8403171902035997]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.5408239013240941,-1.3764701208107188,0.71338606911949],"aabb_xy":[[0.475823903168175,-1.402766365360631],[0.6058238994800131,-1.3501738762608066]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.030145321269322345,1.5638738634616351,0.71338606911949],"aabb_xy":[[-0.014854680196906504,1.5188740066001547],[0.0751453227355512,1.608873720323116]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[0.08162267615985641,1.1134725674602577,0.71338606911949],"aabb_xy":[[0.0566226769942233,1.1065203217549011],[0.10662267532548952,1.1204248131656143]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[-0.016561313366401542,-1.1998193271818467,0.71338606911949],"aabb_xy":[[-0.06654012187671743,-1.2498193271875655],[0.033417495143914344,-1.149819327176128]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[0.6445444673008995,-2.021595202500772,0.71338606911949],"aabb_xy":[[0.6358304982509649,-2.0440952031599595],[0.6532584363508339,-1.9990952018415833]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.14110996811698828,1.193808086636047,0.71338606911949],"aabb_xy":[[-0.1581200654070389,1.1776735981377728],[-0.1240998708269376,1.2099425751343207]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[-0.4246039735039447,0.3915704730634637,0.71338606911949],"aabb_xy":[[-0.48460397401179756,0.33472373937754235],[-0.3646039729960917,0.44841720674938496]]},{"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_13","position":[0.18657549883073343,-1.0535038355522734,0.71338606911949],"aabb_xy":[[0.10157550041331018,-1.1383781310145584],[0.27157549724815666,-0.9686295400899885]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[0.5639701750052362,0.7274857955778065,0.71338606911949],"aabb_xy":[[0.49997017462770255,0.6777405287269942],[0.6279701753827698,0.7772310624286187]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.3532702601968367,-1.9099689422957626,0.71338606911949],"aabb_xy":[[0.3488396308419966,-1.9154173140304454],[0.35770088955167695,-1.90452057056108]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.24124882706518552,0.5179616749485847,0.71338606911949],"aabb_xy":[[-0.24775046357319014,0.5081938529222749],[-0.2347471905571809,0.5277294969748945]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[-0.3190992013671112,-2.1403835218222387,0.71338606911949],"aabb_xy":[[-0.342684324831006,-2.20538352406767],[-0.2955140779032163,-2.0753835195768064]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[0.11090422554545898,-1.5022032792254567,0.71338606911949],"aabb_xy":[[0.09201984177694879,-1.5210892040058095],[0.12978860931396918,-1.483317354445104]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[0.5278436365301875,-0.3600923809328389,0.71338606911949],"aabb_xy":[[0.5218770975894518,-0.366053525592203],[0.5338101754709232,-0.3541312362734749]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[-0.5998746096859251,-2.457101512768085,0.71338606911949],"aabb_xy":[[-0.6045097248381583,-2.460968847845233],[-0.5952394945336916,-2.4532341776909354]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[0.4082076338693963,-1.0237728867951403,0.71338606911949],"aabb_xy":[[0.3973671556428813,-1.0409591680857893],[0.4190481120959111,-1.0065866055044914]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[-0.009185198185060472,-2.119927571226303,0.71338606911949],"aabb_xy":[[-0.04418519808107934,-2.128301806738243],[0.025814801710958395,-2.1115533357143628]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[0.6189931094506533,-0.8795086001628618,0.71338606911949],"aabb_xy":[[0.6084256297925543,-0.8900536302758704],[0.6295605891087523,-0.8689635700498533]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.07956427098627783,-1.8152972674353225,0.71338606911949],"aabb_xy":[[0.06177076405136139,-1.8330970130311202],[0.09735777792119427,-1.7974975218395248]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[0.6579216085142903,-1.112716953797104,0.71338606911949],"aabb_xy":[[0.5939216068362928,-1.1612343452764182],[0.7219216101922875,-1.0641995623177898]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_26","position":[0.35112476143390503,-1.5445095125288972,0.71338606911949],"aabb_xy":[[0.28953400220991227,-1.6085095106379443],[0.4127155206578979,-1.4805095144198506]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_27","position":[-0.5595371032458799,-1.399728938129536,0.71338606911949],"aabb_xy":[[-0.5820371032560282,-1.4138251577691392],[-0.5370371032357316,-1.3856327184899326]]}],"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":0.646154063006438,"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/3045.png","name":"3045"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3045.png","name":"3045"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7986.png","name":"7986"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9997.png","name":"9997"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7129.png","name":"7129"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3537.png","name":"3537"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":710.7995225436174,"rotation_z_degrees":104.17841677684555,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008901565925920094,-0.012013458224936659,0.01506184458615149]},{"name":"camera_2","offset_m":[0.00835430794783779,-0.010721218026595225,0.006201898334882685]},{"name":"camera_3","offset_m":[0.002488182614505119,-0.018308985100614628,0.00506470969386022]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004742827812100358,0.0008544785183312851,-0.0007344300331366945],"end_effector_yaw_offset_degrees":0.5928844236846875},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011416467400531187,-0.000495718623115832,-0.0003404035600031144],"end_effector_yaw_offset_degrees":0.8577679082452767},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001445309282066022,0.0012746908770055482,0.0015112528877606248],"end_effector_yaw_offset_degrees":-0.7362336266825438}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004646612417765673,-0.004007781520661528],"position_m":[0.21365338758223432,0.2631922184793385,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004358268176813341,-0.004250608944942919],"position_m":[0.21374173182318665,-0.35965060894494294,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035866683290563628,-0.003910651039177846],"position_m":[0.31311333167094363,-0.06311065103917785,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025179860357153337,-0.0009125913130716813],"position_m":[0.35398201396428464,0.16498740868692832,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2e3a46d0afdfa026474851fa966c181ab113ad6b22edecd3286f5392e1a173a4","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0023.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3045/tex_ceiling_textures_3537/tex_floor_textures_7129/tex_table_textures_7986/tex_wall_textures_9997","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7255841516332110334,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7255841516332110334,"visual_seed":7255841516332110334,"scene_id":"lab_003","finished_at":"2026-09-04T16:56:51"} +{"episode_id":"ep_000024","started_at":"2026-09-04T16:56:54","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[0.4893411489740309,0.19883139816484974,0.71338606911949],"aabb_xy":[[0.471794454057912,0.16133139660059848],[0.5068878438901498,0.236331399729101]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[-0.3695239177519706,-2.1784749683875266,0.71338606911949],"aabb_xy":[[-0.4030030850130115,-2.2119540817586336],[-0.33604475049092963,-2.1449958550164197]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[0.05040587622095105,-0.9586752248825887,0.71338606911949],"aabb_xy":[[-0.02959412236636837,-1.0379908268207494],[0.13040587480827046,-0.8793596229444277]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[0.49724043383625616,0.6007305764619439,0.71338606911949],"aabb_xy":[[0.4562224904498853,0.5507305758309866],[0.538258377222627,0.6507305770929013]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[-0.14681268317780183,1.5651357076592398,0.71338606911949],"aabb_xy":[[-0.18806149420771653,1.5101357081470221],[-0.10556387214788708,1.620135707171457]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.5847299273639883,-0.29939287528867453,0.71338606911949],"aabb_xy":[[0.5802992980091483,-0.30484124702335713],[0.5891605567188286,-0.29394450355399193]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[0.3744032079235329,-2.4628104208765222,0.71338606911949],"aabb_xy":[[0.3294106212050824,-2.507810420150971],[0.41939579464198323,-2.4178104216020735]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.06520846046210527,-1.7178705251312514,0.71338606911949],"aabb_xy":[[-0.014791537518679771,-1.725472066093103],[0.14520845844289032,-1.7102689841693992]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[0.2086854180462162,-1.9546438748369825,0.71338606911949],"aabb_xy":[[0.1446854159964842,-1.9947383579262903],[0.2726854200959482,-1.9145493917476744]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[0.25226918207314186,-1.072550160990485,0.71338606911949],"aabb_xy":[[0.2309911739296696,-1.1375501633165581],[0.2735471902166141,-1.007550158664412]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.05911449178904005,-0.7398244124425484,0.71338606911949],"aabb_xy":[[-0.11411448999078488,-0.7803463790689859],[-0.004114493587295215,-0.6993024458161107]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[-0.00744209472914803,1.573530194705334,0.71338606911949],"aabb_xy":[[-0.04598778755434906,1.5349844236491452],[0.031103598096053002,1.6120759657615227]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.36944683550166113,0.7090563642983159,0.71338606911949],"aabb_xy":[[0.36303302185847613,0.7026465440506475],[0.375860649144846,0.7154661845459842]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[0.004737042594331831,-1.209805713539854,0.71338606911949],"aabb_xy":[[-0.0025452737823318246,-1.2998057171493627],[0.012019358970995484,-1.1198057099303447]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.2891954514739402,-1.8258230040775327,0.71338606911949],"aabb_xy":[[0.2826938149659356,-1.8355908261038425],[0.29569708798194483,-1.816055182051223]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[0.06612091355801619,1.797863755142267,0.71338606911949],"aabb_xy":[[0.04362091304597558,1.7753718967768681],[0.08862091407005677,1.8203556135076648]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[-0.24709957119822162,1.1221481700780518,0.71338606911949],"aabb_xy":[[-0.31709957458978355,1.0868323963746207],[-0.17709956780665964,1.1574639437814824]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[0.5058001758556692,-2.3524792042411313,0.71338606911949],"aabb_xy":[[0.4906280065740358,-2.3676480611693345],[0.5209723451373025,-2.337310347312928]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.6649650421854766,1.148782314085952,0.71338606911949],"aabb_xy":[[-0.6823957572644831,1.131510199422101],[-0.6475343271064701,1.1660544287498027]]},{"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_19","position":[0.3627464456841545,-0.42275336710429734,0.71338606911949],"aabb_xy":[[0.344877337929699,-0.4365862750815082],[0.38061555343861,-0.40892045912708636]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.31331512418460805,0.0675000288726677,0.71338606911949],"aabb_xy":[[-0.35081512276022886,0.05476373320910977],[-0.27581512560898724,0.08023632453622564]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[0.26440746563714823,-0.8841224421373821,0.71338606911949],"aabb_xy":[[0.17440746621877729,-0.9174979389815718],[0.35440746505551907,-0.8507469452931924]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[0.33321692558941596,-1.643544672344534,0.71338606911949],"aabb_xy":[[0.2692169253289451,-1.688553471697462],[0.3972169258498867,-1.598535872991606]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[0.481590734557545,1.1652627106550417,0.71338606911949],"aabb_xy":[[0.44425945803230243,1.1306096558601897],[0.5189220110827877,1.1999157654498942]]}],"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":0.650701848340513,"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/125.png","name":"125"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/125.png","name":"125"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9936.png","name":"9936"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1065.png","name":"1065"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8695.png","name":"8695"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6063.png","name":"6063"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":564.748631579077,"rotation_z_degrees":145.37996243669303,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018916543971591367,-0.011778531532436132,0.010009262032944576]},{"name":"camera_2","offset_m":[-0.003514462602509018,0.007025442677514471,-0.0030337153825685213]},{"name":"camera_3","offset_m":[-0.005776656937550206,-0.01872809104548253,0.012719150216912539]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018982140270136514,0.0004671265365360031,0.0019746723536888614],"end_effector_yaw_offset_degrees":-0.4993258812992274},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010576550936886864,0.0009953378792786718,-0.0013787199687812293],"end_effector_yaw_offset_degrees":0.4258191036539356},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007803108543749952,0.0016049509374135387,-0.0005972336147809934],"end_effector_yaw_offset_degrees":0.8675310301326153}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00471543853797115,0.004236931617242011],"position_m":[0.22301543853797115,0.271436931617242,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013116397489012247,-0.003942394329846306],"position_m":[0.2194116397489012,-0.3593423943298463,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002245619312176373,0.002825961170877263],"position_m":[0.31894561931217635,-0.05637403882912274,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010264824965441413,0.0006152592436809608],"position_m":[0.35547351750345585,0.16651525924368096,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aee5c1059df54f5ee4386894c1fa7c2ed5eededc8a92967ba85e656e68254baa","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_125/tex_ceiling_textures_6063/tex_floor_textures_8695/tex_table_textures_9936/tex_wall_textures_1065","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8200527590601959863,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8200527590601959863,"visual_seed":8200527590601959863,"scene_id":"lab_003","finished_at":"2026-09-04T16:59:53"} +{"episode_id":"ep_000025","started_at":"2026-09-04T16:59:56","dimensions":{"distractor":{"count":24,"items":[{"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_0","position":[0.5160647792049693,-1.8912502364942028,0.71338606911949],"aabb_xy":[[0.4801512747799795,-1.927163744710957],[0.5519782836299588,-1.855336728277448]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[0.02526651439855354,-2.1674612916465956,0.71338606911949],"aabb_xy":[[-0.029733483803191286,-2.2079832582730328],[0.08026651260029838,-2.1269393250201576]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.5913205186367891,1.811478191573324,0.71338606911949],"aabb_xy":[[0.5538205185311961,1.8046560297203427],[0.628820518742382,1.818300353426305]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[-0.10591499511434443,1.1639293064002119,0.71338606911949],"aabb_xy":[[-0.15591499376026563,1.1140097627407495],[-0.05591499646842324,1.2138488500596742]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.3259443914111606,0.6030467113878495,0.71338606911949],"aabb_xy":[[-0.40594438837419977,0.525971069744076],[-0.24594439444812144,0.6801223530316229]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[0.07921855756785734,-1.68936968786705,0.71338606911949],"aabb_xy":[[0.07117519764190217,-1.7743696889624163],[0.08726191749381251,-1.6043696867716835]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[0.18635118024890152,-1.2907495858602591,0.71338606911949],"aabb_xy":[[0.12135117924840097,-1.341535951014934],[0.25135118124940203,-1.2399632207055842]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.30904988968119573,0.8774013350326713,0.71338606911949],"aabb_xy":[[0.28899147806795544,0.8573362481235137],[0.329108301294436,0.8974664219418288]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.523243516415236,0.7973322374038685,0.71338606911949],"aabb_xy":[[0.4987298923182302,0.773067644101832],[0.5477571405122419,0.821596830705905]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[-0.4422835162695567,-2.0694605934451773,0.71338606911949],"aabb_xy":[[-0.45385249701649333,-2.094460593562109],[-0.4307145355226202,-2.0444605933282456]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.12908126980495405,0.5970053350411098,0.71338606911949],"aabb_xy":[[0.07908126878581877,0.5605391193032819],[0.1790812708240893,0.6334715507789378]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[0.2276026605856153,-0.8232365909395054,0.71338606911949],"aabb_xy":[[0.2194890059122382,-0.8313424073935346],[0.2357163152589924,-0.8151307744854764]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.5329592028267229,-0.12264840542906974,0.71338606911949],"aabb_xy":[[0.5130681629463827,-0.13530421671376658],[0.5528502427070632,-0.10999259414437292]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[-0.2069973415167169,-1.3915758955431397,0.71338606911949],"aabb_xy":[[-0.2114279708715571,-1.3970242672778221],[-0.20256671216187674,-1.3861275238084572]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.19004544770962717,-1.1005727845598106,0.71338606911949],"aabb_xy":[[-0.27004544913975437,-1.1800899395724198],[-0.11004544627949994,-1.0210556295472009]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[0.4284386315219171,1.3920043541068488,0.71338606911949],"aabb_xy":[[0.4059386310098765,1.3695124957414502],[0.4509386320339577,1.4144962124722469]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[-0.5680316942064091,1.5740041492695949,0.71338606911949],"aabb_xy":[[-0.6330316951635362,1.522055937335889],[-0.5030316932492818,1.6259523612033002]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[-0.6671443748938759,-0.2984869355388411,0.71338606911949],"aabb_xy":[[-0.6769003644030497,-0.3082494695980755],[-0.6573883853847019,-0.2887244014796066]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[-0.046532491765574835,0.7495328527623233,0.71338606911949],"aabb_xy":[[-0.06403242519955821,0.7320328528420887],[-0.029032558331591456,0.7670328526825578]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[-0.37673672207193315,-0.002255870109941327,0.71338606911949],"aabb_xy":[[-0.38551794921916954,-0.011035617398471477],[-0.36795549492469704,0.006523877178588823]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.25027839834337584,1.7224477219275331,0.71338606911949],"aabb_xy":[[0.2002995898330599,1.6724477219218141],[0.30025720685369167,1.7724477219332517]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[-0.6069383507815862,-2.16711700540917,0.71338606911949],"aabb_xy":[[-0.6305234742454812,-2.232117007654602],[-0.5833532273176915,-2.1021170031637384]]},{"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_22","position":[0.3363587684448017,1.3224188251983415,0.71338606911949],"aabb_xy":[[0.3184896606903462,1.3085859172211305],[0.35422787619925716,1.3362517331755526]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.354401105740471,-1.7576153662828653,0.71338606911949],"aabb_xy":[[0.346374835109845,-1.7663668612602181],[0.362427376371097,-1.748863871305513]]}],"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":0.6506922694816066,"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/2056.png","name":"2056"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2056.png","name":"2056"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3262.png","name":"3262"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4546.png","name":"4546"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8825.png","name":"8825"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3978.png","name":"3978"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":695.1210971562657,"rotation_z_degrees":333.74003087468276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016110569252577495,0.007823668606246854,-0.013681467921945422]},{"name":"camera_2","offset_m":[0.006890400968364019,0.018825062789141162,0.0030801373199537824]},{"name":"camera_3","offset_m":[0.016196300775721737,-0.004521017215504873,0.001057006812674368]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016438024511324233,0.00034979934040147397,-0.000756624460947397],"end_effector_yaw_offset_degrees":0.9478826483697138},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018562719190503949,-0.001292492443620345,-0.0002539160677911326],"end_effector_yaw_offset_degrees":0.09344598446490804},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018546369955803246,0.0009929063463566877,0.0009404345702993967],"end_effector_yaw_offset_degrees":0.7935025959545245}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004469613742993849,0.0030476306586181097],"position_m":[0.22276961374299384,0.2702476306586181,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002585182423844555,-0.0012986481059568344],"position_m":[0.22068518242384455,-0.3566986481059568,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0044025894130163895,-0.00020780956993214552],"position_m":[0.3211025894130164,-0.05940780956993215,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018143363688151578,0.0032789312957615573],"position_m":[0.35831433636881516,0.16917893129576156,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c87b990a96ec51c8ab387a87a34c9ffa514e44de9adc5815d1a4a0dd61e2af41","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0025.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2056/tex_ceiling_textures_3978/tex_floor_textures_8825/tex_table_textures_3262/tex_wall_textures_4546","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7088894247126617729,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7088894247126617729,"visual_seed":7088894247126617729,"scene_id":"lab_003","finished_at":"2026-09-04T17:02:27"} +{"episode_id":"ep_000026","started_at":"2026-09-04T17:02:30","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.6062711716872555,1.6918365434788343,0.71338606911949],"aabb_xy":[[0.58959403569416,1.675136619504904],[0.622948307680351,1.7085364674527646]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.38757239730718424,-0.2527436231557174,0.71338606911949],"aabb_xy":[[-0.3952755879812612,-0.26045299385445536],[-0.37986920663310714,-0.24503425245697935]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[-0.26539713081597466,-0.38777310529348696,0.71338606911949],"aabb_xy":[[-0.30816383769539485,-0.4517731087152894],[-0.22263042393655447,-0.3237731018716845]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.26199862268042473,0.6087301291762999,0.71338606911949],"aabb_xy":[[0.18199862527683128,0.528737557978117],[0.3419986200840181,0.6887227003744826]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[-0.35762613737960625,1.2747336309590906,0.71338606911949],"aabb_xy":[[-0.38262613731212414,1.267850962738167],[-0.33262613744708835,1.2816162991800137]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[0.567968762622705,1.6014361168592335,0.71338606911949],"aabb_xy":[[0.5553660634856286,1.5888407206343682],[0.5805714617597815,1.6140315130840992]]},{"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_6","position":[-0.47229549533439164,0.622385781301138,0.71338606911949],"aabb_xy":[[-0.5082089997593813,0.5864722730843832],[-0.4363819909094019,0.6582992895178925]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.25655037365058186,0.10161533647269083,0.71338606911949],"aabb_xy":[[-0.26188794931658643,0.07661533554355104],[-0.2512127979845773,0.12661533740183062]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[0.5417560651180133,-1.2429659889912554,0.71338606911949],"aabb_xy":[[0.5292887070082777,-1.255431313624579],[0.554223423227749,-1.230500664357932]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.5141474541356292,-0.8241667971251261,0.71338606911949],"aabb_xy":[[-0.5691211761719621,-0.8791667966893592],[-0.45917373209929635,-0.7691667975608928]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[0.6267759492898368,-1.6329448771637591,0.71338606911949],"aabb_xy":[[0.566775947646915,-1.6849450264557033],[0.6867759509327587,-1.580944727871815]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[-0.6094362835947775,1.134204899605908,0.71338606911949],"aabb_xy":[[-0.6594311165227191,1.0842049007106647],[-0.5594414506668359,1.1842048985011517]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[-0.5252144186227953,-1.742435652336722,0.71338606911949],"aabb_xy":[[-0.6052144172796813,-1.7569405112609848],[-0.44521441996590927,-1.727930793412459]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.09672739960179833,1.0649025691138152,0.71338606911949],"aabb_xy":[[-0.13235655550175807,1.0292699023569623],[-0.061098243701838584,1.1005352358706681]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.08304809664098944,1.359095375241015,0.71338606911949],"aabb_xy":[[-0.000674128859093015,1.2690953717063191],[0.1667703221410719,1.449095378775711]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[-0.24993048729676354,1.326600993166649,0.71338606911949],"aabb_xy":[[-0.2912350303604995,1.2626009935985318],[-0.20862594423302755,1.390600992734766]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[-0.15492687498103086,-1.4835293104973073,0.71338606911949],"aabb_xy":[[-0.15884074817645338,-1.4922783259038641],[-0.15101300178560834,-1.4747802950907505]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[0.10818939560541585,0.6209957517108258,0.71338606911949],"aabb_xy":[[0.10114908567187887,0.5409957523111545],[0.11522970553895286,0.7009957511104973]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[0.42115006855886916,-1.6283062124866996,0.71338606911949],"aabb_xy":[[0.3799012575289544,-1.683306211998917],[0.46239887958878384,-1.5733062129744821]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.2873631785699425,-0.12018385876033566,0.71338606911949],"aabb_xy":[[-0.352363179570443,-0.1709702239150106],[-0.22236317756944196,-0.06939749360566073]]}],"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":0.6484429006231135,"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/8841.png","name":"8841"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8841.png","name":"8841"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6684.png","name":"6684"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4412.png","name":"4412"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3553.png","name":"3553"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6173.png","name":"6173"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":506.1724290525926,"rotation_z_degrees":215.9780132545001,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00880381983829423,0.004566169760822979,0.0187502466658785]},{"name":"camera_2","offset_m":[0.0024975371520190165,0.006544544108336915,0.0005019256772844927]},{"name":"camera_3","offset_m":[-0.019806470813486982,-0.00587109727021669,-0.00796749992243607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00011960063353015117,-0.0019728052766155393,0.0011613178170130005],"end_effector_yaw_offset_degrees":-0.024938255654307184},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019285184102735534,-0.0007714321936631147,0.001409322689009616],"end_effector_yaw_offset_degrees":0.7938180219279409},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005378991963928209,0.0004580795469044407,-0.0010979388212893028],"end_effector_yaw_offset_degrees":0.6787206576068234}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017451101752940677,0.003474138323141478],"position_m":[0.22004511017529407,0.27067413832314147,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001487339681905519,-0.002055715830616105],"position_m":[0.21795126603180945,-0.3574557158306161,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009469639205294126,-0.0019449779326871875],"position_m":[0.3176469639205294,-0.06114497793268719,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015540647213522574,-0.0028910225097153763],"position_m":[0.3549459352786477,0.16300897749028462,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26e6b42ffc33de07f0fef2b44ea65b118929242455e9fb689c1cf2f0a7ac9b50","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8841/tex_ceiling_textures_6173/tex_floor_textures_3553/tex_table_textures_6684/tex_wall_textures_4412","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8601865100591583417,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8601865100591583417,"visual_seed":8601865100591583417,"scene_id":"lab_003","finished_at":"2026-09-04T17:05:04"} +{"episode_id":"ep_000027","started_at":"2026-09-04T17:05:07","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[-0.5932645105978717,-1.1038230764358248,0.71338606911949],"aabb_xy":[[-0.6572645098920398,-1.167809216804679],[-0.5292645113037033,-1.0398369360669706]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[0.17337361281184416,-2.1892248322853813,0.71338606911949],"aabb_xy":[[0.16534734218121816,-2.197976327262734],[0.18139988344247016,-2.1804733373080287]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[-0.40124146472633726,-2.4031611231128216,0.71338606911949],"aabb_xy":[[-0.4173033921848549,-2.4881611249254134],[-0.3851795372678196,-2.3181611213002298]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.6675842448454525,-0.5996938567070504,0.71338606911949],"aabb_xy":[[-0.6900842446593549,-0.6041684730775311],[-0.6450842450315502,-0.5952192403365696]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.012201779708320815,1.8133806172819997,0.71338606911949],"aabb_xy":[[-0.029701779967657445,1.7992890750932273],[0.0052982205510158096,1.8274721594707726]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.5236898817385814,-0.5635945817769845,0.71338606911949],"aabb_xy":[[-0.5786830930757182,-0.6185945821157781],[-0.4686966704014447,-0.5085945814381909]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[0.6249369890924457,0.13021746415442426,0.71338606911949],"aabb_xy":[[0.6196044744378326,0.12489313590918869],[0.6302695037470587,0.13554179239965988]]},{"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_7","position":[-0.23526792999243978,-0.7537116938426038,0.71338606911949],"aabb_xy":[[-0.2531370377468953,-0.7675446018198148],[-0.2173988222379843,-0.7398787858653929]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.08176606765188255,-1.4194622025016141,0.71338606911949],"aabb_xy":[[-0.1617660709097255,-1.499458710293598],[-0.0017660643940395765,-1.33946569470963]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[-0.2639677784280253,1.1989831602857581,0.71338606911949],"aabb_xy":[[-0.31896002906353627,1.1439831585424454],[-0.20897552779251438,1.253983162029071]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.42038700711087595,-2.0592355057479814,0.71338606911949],"aabb_xy":[[0.4121724619951919,-2.067912096045622],[0.4286015522265599,-2.050558915450339]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[0.5374660010557442,-0.9698356854339389,0.71338606911949],"aabb_xy":[[0.5039868337947033,-1.003314798805046],[0.5709451683167852,-0.936356572062832]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.1806338091782469,1.459446277895863,0.71338606911949],"aabb_xy":[[-0.23063381053913412,1.4094683733204474],[-0.13063380781735967,1.5094241824712786]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.04271392216226033,-2.0474535438349655,0.71338606911949],"aabb_xy":[[-0.06629904562615518,-2.1124535460803977],[-0.019128798698365486,-1.9824535415895341]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.2927082960720561,-2.2927993168863114,0.71338606911949],"aabb_xy":[[-0.31770829534401834,-2.309144680482474],[-0.2677082968000938,-2.276453953290149]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[-0.31118363492060874,-1.498119062043963,0.71338606911949],"aabb_xy":[[-0.37518363714101577,-1.5424921461692513],[-0.24718363270020172,-1.4537459779186748]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.4472140937833613,-2.467105014855857,0.71338606911949],"aabb_xy":[[0.38721409393679446,-2.523923637048896],[0.5072140936299281,-2.410286392662819]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[-0.08518010879193261,-1.1453074919746382,0.71338606911949],"aabb_xy":[[-0.14918011070427495,-1.2012186412326487],[-0.02118010687959028,-1.0893963427166278]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.43630407358589285,0.9503356273313126,0.71338606911949],"aabb_xy":[[-0.4481761565973939,0.8653356276376623],[-0.4244319905743917,1.035335627024963]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.21494211405256447,1.7671373622319568,0.71338606911949],"aabb_xy":[[-0.2649352261617564,1.7171373615577616],[-0.16494900194337261,1.817137362906153]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[-0.41740861699921394,-0.40989550767446525,0.71338606911949],"aabb_xy":[[-0.4974086202632271,-0.42345553998337854],[-0.3374086137352008,-0.39633547536555186]]}],"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":0.6489114698358341,"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/9460.png","name":"9460"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9460.png","name":"9460"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5555.png","name":"5555"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5253.png","name":"5253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6280.png","name":"6280"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4319.png","name":"4319"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":518.5881590833878,"rotation_z_degrees":98.91498274994343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01006152946879277,-0.0009157832472402039,0.005679098005136295]},{"name":"camera_2","offset_m":[0.007116170513193763,-0.008349646971751898,0.013727420692627324]},{"name":"camera_3","offset_m":[0.010400834833479547,0.010468994287818608,-0.012445360457460856]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017892144178576438,-0.00023188423895036613,-0.0002482971934495261],"end_effector_yaw_offset_degrees":0.8122636489530326},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013077012655697768,0.0019144707660081741,-0.0008474925585184355],"end_effector_yaw_offset_degrees":0.40287587536270575},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001432207838211567,-0.0019441966310050542,0.0006452680640698536],"end_effector_yaw_offset_degrees":0.2720083921053038}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014056386496886352,-0.00486122337217675],"position_m":[0.21970563864968862,0.26233877662782323,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026263369412292724,0.0013207337055527024],"position_m":[0.22072633694122926,-0.3540792662944473,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004753529578576681,0.004103342206212131],"position_m":[0.3119464704214233,-0.05509665779378787,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002018411602796021,0.004256848852639093],"position_m":[0.35448158839720395,0.1701568488526391,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20e98c14b168a580ff0a15469ed48e5a21441f6e58b55491acae7a037983ba4e","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0027.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9460/tex_ceiling_textures_4319/tex_floor_textures_6280/tex_table_textures_5555/tex_wall_textures_5253","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8325128189116750155,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8325128189116750155,"visual_seed":8325128189116750155,"scene_id":"lab_003","finished_at":"2026-09-04T17:07:55"} +{"episode_id":"ep_000028","started_at":"2026-09-04T17:07:58","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.33132262214966873,1.0740548516559567,0.71338606911949],"aabb_xy":[[-0.40132262375194827,1.0606220584542991],[-0.2613226205473893,1.0874876448576143]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[-0.5202459732608954,-0.2572439114608063,0.71338606911949],"aabb_xy":[[-0.5577459737582535,-0.26121259500892463],[-0.48274597276353703,-0.2532752279126878]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.3531685870886361,-1.1893870309655776,0.71338606911949],"aabb_xy":[[0.2891685854106387,-1.2379044224448918],[0.41716858876663343,-1.1408696394862634]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.1704300594454201,-1.0824982070836218,0.71338606911949],"aabb_xy":[[-0.23443006149515214,-1.1225926901729297],[-0.10643005739568814,-1.0424037239943138]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.6160534477875032,-1.8346534137584671,0.71338606911949],"aabb_xy":[[-0.6240469375827852,-1.8426515456989432],[-0.6080599579922211,-1.826655281817992]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.0338591355758755,0.7996629756000542,0.71338606911949],"aabb_xy":[[-0.12385913529904967,0.7765896230648743],[0.05614086414729868,0.822736328135234]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.17133766670888906,1.2463779564430673,0.71338606911949],"aabb_xy":[[-0.21661628159003832,1.1823779570948836],[-0.1260590518277398,1.310377955791251]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[-0.34128372797688644,-2.4878822740448654,0.71338606911949],"aabb_xy":[[-0.34932708790284167,-2.572882275140232],[-0.3332403680509313,-2.402882272949499]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.5529808512805601,-0.5134284692038564,0.71338606911949],"aabb_xy":[[-0.5600211612140972,-0.5934284686035279],[-0.5459405413470232,-0.43342846980418515]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[0.4316896133706938,-0.3349639299964764,0.71338606911949],"aabb_xy":[[0.38171631936743333,-0.3849639305510237],[0.48166290737395423,-0.284963929441929]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.3752272741436875,-0.8186273149709351,0.71338606911949],"aabb_xy":[[0.350227274591949,-0.8287697988360697],[0.400227273695426,-0.8084848311058003]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.16214532105968427,-1.2916516350165834,0.71338606911949],"aabb_xy":[[-0.17461267916941992,-1.304116959649907],[-0.14967796294994862,-1.27918631038326]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[0.5215311801640763,-2.113813173133699,0.71338606911949],"aabb_xy":[[0.4415311831498283,-2.1339477248071104],[0.6015311771783243,-2.0936786214602874]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.03476300280344302,1.0302259145291872,0.71338606911949],"aabb_xy":[[0.030647052691370344,1.0261103594963414],[0.03887895291551567,1.0343414695620325]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[-0.4020184633924938,0.45024742142166874,0.71338606911949],"aabb_xy":[[-0.41546499002653714,0.43677756976857746],[-0.3885719367584505,0.4637172730747599]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[0.2531180047230057,-1.4576070042741942,0.71338606911949],"aabb_xy":[[0.20313919621268983,-1.507607004279913],[0.3030968132333216,-1.4076070042684754]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[0.660386294506319,-1.4309562772665083,0.71338606911949],"aabb_xy":[[0.6496133205849512,-1.4659562754855473],[0.6711592684276868,-1.3959562790474693]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.6001159537857147,-0.7351082671717915,0.71338606911949],"aabb_xy":[[-0.6066175902937194,-0.7448760891981013],[-0.5936143172777102,-0.7253404451454818]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.38232338986422726,0.8901144774531846,0.71338606911949],"aabb_xy":[[-0.4463233890339972,0.8433477903342221],[-0.3183233906944573,0.9368811645721471]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[-0.5882697279216076,-2.4854628948534083,0.71338606911949],"aabb_xy":[[-0.5919729892507464,-2.4891649131621256],[-0.5845664665924686,-2.48176087654469]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[-0.5351883802603111,1.6454954083439506,0.71338606911949],"aabb_xy":[[-0.5991883805207819,1.6004866089910226],[-0.47118837999984037,1.6905042076968786]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[0.20017830658479774,0.7051328882938677,0.71338606911949],"aabb_xy":[[0.1826316116686788,0.6676328867296164],[0.21772500150091667,0.7426328898581189]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[-0.4855879145635027,-0.7702008501679849,0.71338606911949],"aabb_xy":[[-0.4890285908035599,-0.7740622831423495],[-0.4821472383234456,-0.7663394171936205]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[0.21160418841956163,1.238237295927966,0.71338606911949],"aabb_xy":[[0.13160419145652244,1.1611616542841925],[0.2916041853826008,1.3153129375717394]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[-0.054231042400660456,-0.7074127684820013,0.71338606911949],"aabb_xy":[[-0.06856546752682391,-0.71947298403654],[-0.039896617274497,-0.6953525529274623]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[-0.6614819866695215,0.5050106648885544,0.71338606911949],"aabb_xy":[[-0.68176628939292,0.4847280397458455],[-0.6411976839461225,0.5252932900312631]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_26","position":[-0.02063373346141495,1.4985971396526705,0.71338606911949],"aabb_xy":[[-0.028848278577098926,1.4899205493550287],[-0.012419188345730968,1.5072737299503114]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[-0.5111154026030708,-0.04721561800677687,0.71338606911949],"aabb_xy":[[-0.5589215702168393,-0.11221562071383581],[-0.463309234989302,0.017784384700282086]]}],"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":0.6462765397527099,"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/9257.png","name":"9257"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9257.png","name":"9257"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7326.png","name":"7326"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8205.png","name":"8205"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5038.png","name":"5038"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6494.png","name":"6494"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":570.2639086075754,"rotation_z_degrees":65.62987528808543,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0029415463843818004,-0.013440453005714432,0.0172727668047345]},{"name":"camera_2","offset_m":[0.017111425077447836,0.002281143711897266,0.011394971267509806]},{"name":"camera_3","offset_m":[0.008909395882756174,-0.013961163201421907,-0.004991336719074275]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00031856294876614734,-0.00025568987771126166,-0.0007259899509673162],"end_effector_yaw_offset_degrees":0.2579213916897869},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013489935989694102,0.0019183802159489314,0.00024347524123248445],"end_effector_yaw_offset_degrees":0.11165761733467328},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00024555622946226176,-0.001060899362360412,0.00024941532842717457],"end_effector_yaw_offset_degrees":0.10698687073257784}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004680188544703417,-0.0011785484098494814],"position_m":[0.22298018854470342,0.2660214515901505,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004980837789169547,-0.004021705709447019],"position_m":[0.21311916221083044,-0.35942170570944704,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031921717174785667,0.0019591204139700214],"position_m":[0.31350782828252144,-0.05724087958602998,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000907784214817877,-0.0037034156957383257],"position_m":[0.35559221578518213,0.16219658430426168,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c6de0692abedb57cbf79ce566badd286afd73d047600a6b03a61f8b03378166","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9257/tex_ceiling_textures_6494/tex_floor_textures_5038/tex_table_textures_7326/tex_wall_textures_8205","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8592224599097510872,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8592224599097510872,"visual_seed":8592224599097510872,"scene_id":"lab_003","finished_at":"2026-09-04T17:10:55"} +{"episode_id":"ep_000029","started_at":"2026-09-04T17:10:58","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[-0.2568032493085359,0.2478155809684197,0.71338606911949],"aabb_xy":[[-0.32080325098653323,0.1992981894891055],[-0.19280324763053852,0.29633297244773393]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[-0.4810848842580716,1.5469202073881552,0.71338606911949],"aabb_xy":[[-0.5610848875159146,1.4669236995961712],[-0.40108488100022865,1.6269167151801391]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.38258362991966594,1.0107516037131297,0.71338606911949],"aabb_xy":[[-0.39949436235600766,0.997279398120515],[-0.3656728974833241,1.024223809305744]]},{"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_3","position":[-0.5096982073820036,-1.0826489947636657,0.71338606911949],"aabb_xy":[[-0.5673286762692743,-1.142648993690376],[-0.4520677384947326,-1.022648995836955]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[0.4596965037309273,-1.2016970955479391,0.71338606911949],"aabb_xy":[[0.37969650657135195,-1.2132446965057562],[0.5396965008905026,-1.190149494590122]]},{"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_5","position":[-0.1691492972576596,-2.192936456150536,0.71338606911949],"aabb_xy":[[-0.2541492956750828,-2.277810751612821],[-0.08414929884023636,-2.108062160688251]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[0.4211847640050719,1.223531653334831,0.71338606911949],"aabb_xy":[[0.3561847628991286,1.1985662802667028],[0.48618476511101516,1.2484970264029593]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.6030205224572759,-2.009149961792871,0.71338606911949],"aabb_xy":[[-0.6275667380800266,-2.039398858341908],[-0.5784743068345252,-1.9789010652438341]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[0.22820247637350966,-1.906899386307441,0.71338606911949],"aabb_xy":[[0.17810501239243604,-1.9708993868172529],[0.2782999403545833,-1.8428993857976292]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.18082402461767155,0.5206747393357714,0.71338606911949],"aabb_xy":[[0.1458240254877159,0.5149295182601072],[0.2158240237476272,0.5264199604114355]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.46488693726289926,0.1432321781411261,0.71338606911949],"aabb_xy":[[-0.5448869358502186,0.06391657620296522],[-0.3848869386755799,0.222547780079287]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[-0.09422764983890819,0.29126094478124953,0.71338606911949],"aabb_xy":[[-0.10430935691748165,0.21126094688913483],[-0.0841459427603347,0.3712609426733641]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.5100463229868926,0.9463492557924762,0.71338606911949],"aabb_xy":[[-0.5252184922685259,0.9311803988642728],[-0.4948741537052592,0.9615181127206796]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[-0.26610041187887445,-1.8567148726361657,0.71338606911949],"aabb_xy":[[-0.3461004121524814,-1.9296644204618822],[-0.18610041160526744,-1.7837653248104488]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.29743186102633545,-1.6220958068367612,0.71338606911949],"aabb_xy":[[0.23343185868353386,-1.6670366580808935],[0.36143186336913696,-1.5771549555926285]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.48654647000344964,0.8089615217767343,0.71338606911949],"aabb_xy":[[-0.5415464696251955,0.7539778289892616],[-0.43154647038170385,0.863945214564207]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[0.599045010778168,-2.0777738607077634,0.71338606911949],"aabb_xy":[[0.5757631685800365,-2.162773862004991],[0.6223268529762992,-1.992773859410535]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.3969493959447834,-1.826206814478513,0.71338606911949],"aabb_xy":[[0.39205010363821985,-1.8538837337810816],[0.40184868825134684,-1.798529895175944]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[0.32739771311078036,1.6470438041589994,0.71338606911949],"aabb_xy":[[0.2673977122499675,1.5956173741525128],[0.3873977139715931,1.6984702341654856]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[-0.3613181402484606,-2.3713014858832513,0.71338606911949],"aabb_xy":[[-0.40233608363483153,-2.4213014865142086],[-0.32030019686208977,-2.321301485252294]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[0.10656093934236532,-1.415179665314386,0.71338606911949],"aabb_xy":[[0.08297581587847047,-1.4801796675598176],[0.13014606280626018,-1.350179663068954]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[-0.08265170291691237,0.8597110733748026,0.71338606911949],"aabb_xy":[[-0.14665170317738316,0.8147022740218745],[-0.018651702656441557,0.9047198727277305]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[-0.5620862640284697,0.40534755383360377,0.71338606911949],"aabb_xy":[[-0.6470862627205443,0.37336169043872486],[-0.477086265336395,0.43733341722848257]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_23","position":[-0.4949001781631781,-0.5912777835290348,0.71338606911949],"aabb_xy":[[-0.5749001751774261,-0.6114123352024461],[-0.4149001811489301,-0.5711432318556235]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[-0.06674924838498053,1.098655337677629,0.71338606911949],"aabb_xy":[[-0.07590912732885713,1.0921241196340918],[-0.05758936944110393,1.105186555721166]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[-0.4696628920316088,-1.2014042359245622,0.71338606911949],"aabb_xy":[[-0.5041253700446966,-1.2080679131074847],[-0.4352004140185211,-1.1947405587416393]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[0.45618429566215535,0.6860153028641918,0.71338606911949],"aabb_xy":[[0.39118429466165483,0.6352289377095168],[0.5211842966626559,0.7368016680188667]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[-0.21957639378318705,-0.1560067570344068,0.71338606911949],"aabb_xy":[[-0.26670577278502267,-0.22000675807880876],[-0.17244701478135133,-0.09200675599000485]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[0.07854037051267149,0.6150160221951086,0.71338606911949],"aabb_xy":[[0.0744244204005988,0.6109004671622629],[0.08265632062474412,0.619131577227954]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[0.5248676156888685,1.460550163434498,0.71338606911949],"aabb_xy":[[0.49109205649817556,1.4465116682213328],[0.5586431748795615,1.4745886586476626]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[-0.19091616926176835,-0.6087419649206778,0.71338606911949],"aabb_xy":[[-0.2259161706132501,-0.6291017008774986],[-0.15591616791028662,-0.588382228963857]]}],"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":0.6510532285553028,"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/1708.png","name":"1708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1708.png","name":"1708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6370.png","name":"6370"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7647.png","name":"7647"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2821.png","name":"2821"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3011.png","name":"3011"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":794.2357425984776,"rotation_z_degrees":204.57033881035258,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01134425901228608,-0.0035686713613120834,-0.007013551625925252]},{"name":"camera_2","offset_m":[-0.011472725845603061,0.009579272551155284,-0.01617610032874828]},{"name":"camera_3","offset_m":[0.001743540708895118,0.018923325958175908,-0.010255648377116896]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004050778348820669,-0.001930800613498043,-0.0008665844771943015],"end_effector_yaw_offset_degrees":-0.462564020638365},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002644362223848942,0.0004482522917915797,-0.001027625638386469],"end_effector_yaw_offset_degrees":-0.665761332936744},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00028188459287800953,-0.0006053946142525551,-0.001609523117923447],"end_effector_yaw_offset_degrees":-0.2730218352154983}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002725239582993171,0.0018326005915244494],"position_m":[0.22102523958299317,0.26903260059152445,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00493467774296043,0.0009419711666334612],"position_m":[0.22303467774296043,-0.3544580288333665,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002739535662261155,-0.0029837385311016185],"position_m":[0.31943953566226113,-0.06218373853110162,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00370110337625709,0.0023680869601644863],"position_m":[0.3527988966237429,0.1682680869601645,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0d0a8ec5b981b3443b07b58e00a96cfea9d0ac82555abca4b53b6e9aff0f82f","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0029.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1708/tex_ceiling_textures_3011/tex_floor_textures_2821/tex_table_textures_6370/tex_wall_textures_7647","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8766798250280184095,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8766798250280184095,"visual_seed":8766798250280184095,"scene_id":"lab_003","finished_at":"2026-09-04T17:13:51"} +{"episode_id":"ep_000030","started_at":"2026-09-04T17:13:54","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.40668893380540877,0.18887197721324434,0.71338606911949],"aabb_xy":[[-0.4146122140441571,0.166371976975241],[-0.39876565356666044,0.21137197745124772]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.06928299829870999,-2.0024648153016553,0.71338606911949],"aabb_xy":[[-0.01071700495913297,-2.0824613230936393],[0.14928300155655294,-1.9224683075096713]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[-0.42943606279150104,1.6629142604030513,0.71338606911949],"aabb_xy":[[-0.45398227841425176,1.6326653638540143],[-0.4048898471687503,1.6931631569520884]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[0.5530020095001065,0.5560302967709916,0.71338606911949],"aabb_xy":[[0.5155020090027482,0.5520616132228731],[0.5905020099974647,0.5599989803191099]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[-0.27441682244983334,-1.0338785219008206,0.71338606911949],"aabb_xy":[[-0.2903013157151585,-1.0482314621996445],[-0.2585323291845082,-1.0195255816019964]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.2883223981465146,0.9097563274437546,0.71338606911949],"aabb_xy":[[0.2650405559483832,0.8247563261465263],[0.3116042403446459,0.9947563287409824]]},{"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_6","position":[0.5880269870108725,-0.28099201122557105,0.71338606911949],"aabb_xy":[[0.5521134825858828,-0.3169055194423256],[0.623940491435862,-0.24507850300881637]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.2867829354839308,-2.085133300341788,0.71338606911949],"aabb_xy":[[-0.32532862830913184,-2.1236790713979765],[-0.24823724265872976,-2.046587529285599]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.38478182749956097,0.9222182248718003,0.71338606911949],"aabb_xy":[[-0.39356305464679725,0.9134384775832703],[-0.3760006003523248,0.9309979721603306]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[0.29581842241815304,-2.1544707087685824,0.71338606911949],"aabb_xy":[[0.25082583569970257,-2.1994707080430316],[0.3408110091366034,-2.109470709494134]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.10845952271714443,-2.106806726050549,0.71338606911949],"aabb_xy":[[-0.1429218701152862,-2.141300608448371],[-0.07399717531900261,-2.0723128436527256]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[0.19924961028156196,1.2579747208753833,0.71338606911949],"aabb_xy":[[0.17919119866832167,1.2379096339662257],[0.21930802189480225,1.2780398077845405]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.20945808312823522,-0.6100103824748333,0.71338606911949],"aabb_xy":[[0.19601155649419189,-0.6234802341279245],[0.22290460976227855,-0.5965405308217421]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[0.5397705940386539,-2.1924225886548534,0.71338606911949],"aabb_xy":[[0.515934376398049,-2.28242258946334],[0.5636068116792591,-2.102422587846367]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.568365059289805,0.8274751745795577,0.71338606911949],"aabb_xy":[[-0.622380655571705,0.7634751716873004],[-0.514349463007905,0.8914751774718147]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[0.3285721780917066,-0.8830476443578938,0.71338606911949],"aabb_xy":[[0.31534123255702523,-0.8962750633798932],[0.3418031236263878,-0.8698202253358943]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[0.6507351860190225,0.4607979748314537,0.71338606911949],"aabb_xy":[[0.580735183382436,0.44069310983558807],[0.7207351886556087,0.4809028398273191]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[0.5987972182760588,0.09547539812469408,0.71338606911949],"aabb_xy":[[0.534797215057421,0.048752286225685726],[0.6627972214946967,0.14219851002370243]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.16571339534063534,-0.6046223341323236,0.71338606911949],"aabb_xy":[[-0.18338902592923365,-0.6223025504117263],[-0.14803776475203698,-0.5869421178529208]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[-0.10344492777752379,-1.58021647953926,0.71338606911949],"aabb_xy":[[-0.1674449242048457,-1.6273861033613566],[-0.0394449313502019,-1.5330468557171637]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[0.13732629103260607,1.790717121603707,0.71338606911949],"aabb_xy":[[0.10735873412278041,1.7607171213058213],[0.16729384794243174,1.8207171219015927]]}],"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":0.6484522810391474,"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/6857.png","name":"6857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6857.png","name":"6857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2613.png","name":"2613"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7767.png","name":"7767"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1292.png","name":"1292"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/110.png","name":"110"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":774.6586219347657,"rotation_z_degrees":348.8250267952053,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008674198265275258,-0.00908290955970653,0.001494223420964648]},{"name":"camera_2","offset_m":[0.017796031851620573,-0.0157298329536874,0.008608062120887688]},{"name":"camera_3","offset_m":[0.0011370548111799411,-0.0008806397800566086,-0.0174595646181077]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-8.036586476310552e-05,-0.0003656748100021928,-0.00025762466040583974],"end_effector_yaw_offset_degrees":0.012857803043962557},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010092832402587614,0.0009220270116764074,-0.0018465229333927851],"end_effector_yaw_offset_degrees":-0.8576678993158775},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005177165768996228,0.0011988949488992854,-0.0012990003624729974],"end_effector_yaw_offset_degrees":-0.6122606710366849}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017719079754810211,0.0036529126084478307],"position_m":[0.220071907975481,0.27085291260844785,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017605847765526216,0.0008337707727256423],"position_m":[0.2198605847765526,-0.3545662292272744,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0041700183555731865,-0.0032504346512313344],"position_m":[0.3125299816444268,-0.06245043465123134,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037761268571149123,0.0005837502881244827],"position_m":[0.35272387314288506,0.16648375028812448,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20fcdd6de75c444eda4ff3a9b5dd99d9892e973df5f2604853842c6cb1bfe287","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6857/tex_ceiling_textures_110/tex_floor_textures_1292/tex_table_textures_2613/tex_wall_textures_7767","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5822906724828857365,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5822906724828857365,"visual_seed":5822906724828857365,"scene_id":"lab_003","finished_at":"2026-09-04T17:16:52"} +{"episode_id":"ep_000031","started_at":"2026-09-04T17:16:55","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.476644261815115,-1.30710223034715,0.71338606911949],"aabb_xy":[[0.4514234249552753,-1.3323259812000365],[0.5018650986749547,-1.281878479494263]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[-0.42114723747036237,0.9798831010389923,0.71338606911949],"aabb_xy":[[-0.4382493154287305,0.9627762955077225],[-0.4040451595119942,0.996989906570262]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[-0.43438512039954297,-1.262219769393722,0.71338606911949],"aabb_xy":[[-0.4573008332845929,-1.2851240665301458],[-0.4114694075144931,-1.2393154722572988]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.531380409661436,-1.4777307146680536,0.71338606911949],"aabb_xy":[[-0.611380412925449,-1.4912907469769667],[-0.4513804063974227,-1.46417068235914]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[-0.4915607801376123,-2.12195629432005,0.71338606911949],"aabb_xy":[[-0.5031297608845489,-2.1469562944369818],[-0.4799917993906757,-2.0969562942031184]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[-0.16426922386773046,-1.3453017161861374,0.71338606911949],"aabb_xy":[[-0.22426922411913164,-1.399583041222602],[-0.10426922361632929,-1.2910203911496727]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.027400222715830758,-0.8072049889442141,0.71338606911949],"aabb_xy":[[-0.04002701000302711,-0.8167510626457869],[-0.014773435428634407,-0.7976589152426411]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[-0.49421411347927025,-0.5507416713152495,0.71338606911949],"aabb_xy":[[-0.5033739924231468,-0.5572728893587865],[-0.4850542345353936,-0.5442104532717124]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.4490968555120014,-1.4071487792055353,0.71338606911949],"aabb_xy":[[0.37909685370325596,-1.4285025479697224],[0.5190968573207468,-1.3857950104413477]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[0.19016153232772315,-1.173729581458586,0.71338606911949],"aabb_xy":[[0.14027883545002695,-1.223729580704861],[0.24004422920541937,-1.1237295822123115]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.27617859066903916,1.3657502438959872,0.71338606911949],"aabb_xy":[[0.2516649665720333,1.341485650593951],[0.300692214766045,1.3900148371980239]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.18802189405750247,-1.4684749059860198,0.71338606911949],"aabb_xy":[[-0.22552189472208112,-1.4841619639862418],[-0.1505218933929237,-1.4527878479857974]]},{"name":"lh_cell_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_12","position":[-0.5310236582678525,0.7718614771764334,0.71338606911949],"aabb_xy":[[-0.5950236589713219,0.7258430947035125],[-0.46702365756438324,0.8178798596493546]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.3817821362496292,0.5515222113352611,0.71338606911949],"aabb_xy":[[-0.44578213353527785,0.5100154923824172],[-0.31778213896398055,0.5930289302881051]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.32059343051578276,-1.7239217594517202,0.71338606911949],"aabb_xy":[[-0.38559343055008555,-1.7706224361320475],[-0.2555934304814801,-1.677221082771393]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[-0.534900877093899,-0.0229319977747644,0.71338606911949],"aabb_xy":[[-0.5507853703592241,-0.03728493807358846],[-0.5190163838285738,-0.008579057475940344]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.6027785158474657,-1.6083861280667344,0.71338606911949],"aabb_xy":[[-0.6314278482078817,-1.63703168734381],[-0.5741291834870492,-1.5797405687896584]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.6570262629884733,-1.7151545352012183,0.71338606911949],"aabb_xy":[[-0.6607295243176121,-1.718856553509936],[-0.6533230016593343,-1.7114525168925]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[0.6198329179179007,1.2583651382776901,0.71338606911949],"aabb_xy":[[0.5698329168987656,1.2218989225398622],[0.6698329189370361,1.294831354015518]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.3553231440927396,-2.092790961244123,0.71338606911949],"aabb_xy":[[0.3241762252491564,-2.1627909599309296],[0.38647006293632263,-2.0227909625573153]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.6144773763391742,-0.26610114005669017,0.71338606911949],"aabb_xy":[[-0.663957797553133,-0.330101137969542],[-0.5649969551252154,-0.20210114214383834]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[0.14226074583861337,-1.4841877211016161,0.71338606911949],"aabb_xy":[[0.10476074726299255,-1.4969240167651738],[0.17976074441423415,-1.471451425438058]]},{"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_22","position":[-0.5457205771062992,-1.249491839519914,0.71338606911949],"aabb_xy":[[-0.5518152049944175,-1.2580612340715827],[-0.5396259492181809,-1.2409224449682452]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[-0.6318142255677893,0.5561404955271678,0.71338606911949],"aabb_xy":[[-0.6366578203290193,0.5512888430481837],[-0.6269706308065593,0.5609921480061519]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[0.5807088940543785,-2.281995115118306,0.71338606911949],"aabb_xy":[[0.5625030703931309,-2.293020515700298],[0.5989147177156262,-2.2709697145363146]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[-0.3306576048307777,-1.0117703197770944,0.71338606911949],"aabb_xy":[[-0.39465760122635074,-1.0757336081958282],[-0.2666576084352046,-0.9478070313583611]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_26","position":[0.03326975485383121,0.767412302256619,0.71338606911949],"aabb_xy":[[-0.03173024370324162,0.7376597688427363],[0.09826975341090405,0.7971648356705016]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_27","position":[-0.25716286069467187,-1.5516270047822887,0.71338606911949],"aabb_xy":[[-0.26347496023101036,-1.5573939440355076],[-0.2508507611583335,-1.5458600655290697]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_28","position":[-0.45682807501022393,-2.376294259848412,0.71338606911949],"aabb_xy":[[-0.47450370559882227,-2.3939744761278146],[-0.4391524444216256,-2.358614043569009]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[-0.24388146877709754,-0.36028407102319937,0.71338606911949],"aabb_xy":[[-0.2788814687535934,-0.36974868707081604],[-0.2088814688006017,-0.3508194549755828]]}],"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":0.6456088807475907,"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/4666.png","name":"4666"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4666.png","name":"4666"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/757.png","name":"757"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5966.png","name":"5966"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8760.png","name":"8760"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6834.png","name":"6834"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":737.5990154780164,"rotation_z_degrees":276.44970203176933,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017029310717614186,-0.019948012376798184,-0.0089043157195368]},{"name":"camera_2","offset_m":[-0.009439694603461404,-0.01700497721213948,-0.0006303766076785865]},{"name":"camera_3","offset_m":[-0.0014673573757656329,-0.005664942308619896,-0.006298502132382948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017196841530030512,-0.000969111064501698,-0.0017965904595931028],"end_effector_yaw_offset_degrees":-0.0303606892364503},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001981038901631522,0.0002290216304462636,-0.000561327365511537],"end_effector_yaw_offset_degrees":-0.24766532536212327},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.4052127029658595e-05,-0.0019519636674472684,0.0014474591219426187],"end_effector_yaw_offset_degrees":0.4886451436562762}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002532843494081948,0.0011298607655632785],"position_m":[0.21576715650591805,0.26832986076556326,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017220072549091157,0.004978662440961936],"position_m":[0.21637799274509087,-0.35042133755903804,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005862500161909444,0.004191682723508742],"position_m":[0.31611374998380903,-0.05500831727649126,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00331880508484112,0.002789098142866535],"position_m":[0.35318119491515887,0.16868909814286653,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0598962d0869791a03e7759151edf33cf7faad0163e05c8d5db4c3e732223136","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4666/tex_ceiling_textures_6834/tex_floor_textures_8760/tex_table_textures_757/tex_wall_textures_5966","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3957499672687752538,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3957499672687752538,"visual_seed":3957499672687752538,"scene_id":"lab_003","finished_at":"2026-09-04T17:19:57"} +{"episode_id":"ep_000032","started_at":"2026-09-04T17:20:00","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.05099381527041846,0.5426513624576326,0.71338606911949],"aabb_xy":[[-0.06183429349693337,0.5254650811669836],[-0.04015333704390356,0.5598376437482813]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.5990374401769268,0.16558405483436722,0.71338606911949],"aabb_xy":[[-0.6403419832406627,0.10158405526625014],[-0.5577328971131907,0.2295840544024843]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.3931355816298674,-0.7638827441258313,0.71338606911949],"aabb_xy":[[0.37990463609518604,-0.7771101631478307],[0.40636652716454863,-0.7506553251038318]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[0.012276257220918851,1.7425027960959505,0.71338606911949],"aabb_xy":[[-0.05172374194885109,1.695736108976988],[0.07627625639068879,1.789269483214913]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[-0.2156343657417421,-1.6824816031935725,0.71338606911949],"aabb_xy":[[-0.23151885900706726,-1.6968345434923964],[-0.19974987247641696,-1.6681286628947483]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.024146307876564355,-2.447075550426585,0.71338606911949],"aabb_xy":[[-0.08814630928455501,-2.4988645019505094],[0.0398536935314263,-2.39528659890266]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[-0.2707494047919451,-1.7810639828079329,0.71338606911949],"aabb_xy":[[-0.335749403349018,-1.8108165162218153],[-0.2057494062348723,-1.75131144939405]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.21363640189696154,-0.1673952617282355,0.71338606911949],"aabb_xy":[[-0.2936364004842809,-0.24671086366639638],[-0.13363640330964208,-0.08807965979007461]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.5220303312763739,-0.7987556515836602,0.71338606911949],"aabb_xy":[[0.48499622184831415,-0.8331328589173697],[0.5590644407044336,-0.7643784442499508]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[-0.470756968169488,-0.5028178963137035,0.71338606911949],"aabb_xy":[[-0.4788706228428651,-0.5109237127677326],[-0.4626433134961109,-0.49471207985967447]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.14025567544816153,-2.2360958641129303,0.71338606911949],"aabb_xy":[[0.050255676853691617,-2.2523464504263515],[0.2302556740426315,-2.219845277799509]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.5127035502872372,0.2959612323489549,0.71338606911949],"aabb_xy":[[0.48770355073549876,0.2858187484838201],[0.5377035498389757,0.30610371621408955]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.43203073130259706,-1.3846481811499576,0.71338606911949],"aabb_xy":[[0.41535359530950156,-1.4013481051238879],[0.44870786729569256,-1.3679482571760273]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_13","position":[-0.6742432559541256,-2.3616604469974005,0.71338606911949],"aabb_xy":[[-0.6850162298754935,-2.396660445216439],[-0.6634702820327579,-2.326660448778361]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.33834185108514614,-1.1053414029286621,0.71338606911949],"aabb_xy":[[0.33034836128986417,-1.113339534869138],[0.3463353408804282,-1.0973432709881867]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[0.06981611748626382,-0.5986194387741872,0.71338606911949],"aabb_xy":[[0.04731611697422321,-0.6211112971395855],[0.0923161179983044,-0.5761275804087888]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[-0.42013029086450315,0.08795539550937148,0.71338606911949],"aabb_xy":[[-0.42805357110325154,0.06545539527136812],[-0.4122070106257549,0.11045539574737484]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[0.5305706025957082,-1.5186093986510674,0.71338606911949],"aabb_xy":[[0.4930706026519418,-1.5269024886859037],[0.5680706025394746,-1.5103163086162306]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.27802351020296523,-1.3519542490350371,0.71338606911949],"aabb_xy":[[0.24302351193284533,-1.3590283767300253],[0.31302350847308513,-1.344880121340049]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.4852069888465833,-0.021578762259169437,0.71338606911949],"aabb_xy":[[0.44003567099841445,-0.08557875940370786],[0.5303783066947524,0.04242123488536898]]}],"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":0.6493438918325498,"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/6126.png","name":"6126"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6126.png","name":"6126"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6423.png","name":"6423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3903.png","name":"3903"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4472.png","name":"4472"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4884.png","name":"4884"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":795.049504313461,"rotation_z_degrees":75.9842895374849,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01099346137251859,-0.004038502739567136,-0.006545886575064696]},{"name":"camera_2","offset_m":[-0.017259172691865984,-0.0029019823837064702,0.019476896928218215]},{"name":"camera_3","offset_m":[-0.0009245702466507168,-0.003293529896686062,0.013906838317189866]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012181985549249812,-0.0005087404299601022,-0.0008790934053057842],"end_effector_yaw_offset_degrees":-0.6952015908661013},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00187445612862299,-5.630489250274366e-06,2.5263644063083877e-05],"end_effector_yaw_offset_degrees":-0.175505064919369},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005998788750051106,-0.00041498521277367616,-1.601199111383447e-05],"end_effector_yaw_offset_degrees":0.1810262255174382}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002012934620210777,0.0020497098199060114],"position_m":[0.22031293462021076,0.269249709819906,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005599515651883054,0.0029519466619921603],"position_m":[0.21754004843481167,-0.3524480533380078,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038034861427608266,-0.0024324126824083483],"position_m":[0.3205034861427608,-0.06163241268240835,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017542534242217592,-0.0017535122710749251],"position_m":[0.35825425342422174,0.16414648772892507,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"63f0cd22db086b2b24697b568f274ea9ec3b1494acc2c72332d3838ccf94a2a2","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6126/tex_ceiling_textures_4884/tex_floor_textures_4472/tex_table_textures_6423/tex_wall_textures_3903","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":833822387317494379,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":833822387317494379,"visual_seed":833822387317494379,"scene_id":"lab_003","finished_at":"2026-09-04T17:22:54"} +{"episode_id":"ep_000033","started_at":"2026-09-04T17:22:57","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.5457068243143416,-1.9200944816858445,0.71338606911949],"aabb_xy":[[-0.6097068275329796,-1.9668175935848529],[-0.48170682109570384,-1.8733713697868362]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.11832793294789268,1.1359077370978938,0.71338606911949],"aabb_xy":[[0.0688475117339339,1.071907739185042],[0.16780835416185147,1.1999077350107457]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[0.36486338720321765,1.7136243536746076,0.71338606911949],"aabb_xy":[[0.35723911911303946,1.7059911301380641],[0.37248765529339595,1.7212575772111516]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[-0.5046811553445715,0.9772174545165759,0.71338606911949],"aabb_xy":[[-0.5333304877049877,0.9485718952395],[-0.47603182298415525,1.0058630137936517]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.37853181581059125,0.039844782103141796,0.71338606911949],"aabb_xy":[[-0.3917627613452725,0.02661736308114237],[-0.3653008702759099,0.05307220112514121]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[0.52116673524058,-1.4310934116110585,0.71338606911949],"aabb_xy":[[0.44116673197656686,-1.4446534439199719],[0.6011667385045931,-1.4175333793021452]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.5310039552641838,-2.5466276656135762,0.71338606911949],"aabb_xy":[[-0.6210039546825545,-2.580003162457766],[-0.44100395584581276,-2.5132521687693865]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.14702125987834347,0.6177296674271515,0.71338606911949],"aabb_xy":[[-0.1969039567560397,0.5677296681808767],[-0.09713856300064727,0.6677296666734261]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[-0.5736705183267612,-0.9908194633323846,0.71338606911949],"aabb_xy":[[-0.6586705170188359,-1.0228053267272634],[-0.48867051963468666,-0.9588335999375056]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.5715291328031773,-0.2507298158700686,0.71338606911949],"aabb_xy":[[-0.5795724927291324,-0.335729816965435],[-0.563485772877222,-0.16572981477470217]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.3710745600797287,0.958312476174791,0.71338606911949],"aabb_xy":[[0.3367776490619881,0.9240155899648496],[0.40537147109746935,0.9926093623847322]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.3176984864253076,-1.6078677689827288,0.71338606911949],"aabb_xy":[[0.25369848408250606,-1.652808620226861],[0.3816984887681092,-1.562926917738596]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.4111182607938943,0.31628299493643786,0.71338606911949],"aabb_xy":[[-0.4422651796374774,0.24628299624963063],[-0.3799713419503112,0.386282993623245]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.14701590539638532,-2.1269283418738354,0.71338606911949],"aabb_xy":[[0.13268148027022186,-2.138988557428374],[0.16135033052254877,-2.1148681263192968]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[0.34157568325123266,1.0631752482119028,0.71338606911949],"aabb_xy":[[0.3065756849405373,1.0554602332883571],[0.37657568156192817,1.0708902631354484]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.42508222865896506,1.2089202828743293,0.71338606911949],"aabb_xy":[[0.41492921310481556,1.1728507413015887],[0.4352352442131143,1.2449898244470694]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.12609525153446077,-0.8307238927019962,0.71338606911949],"aabb_xy":[[-0.21609524827007096,-0.8839073560192905],[-0.036095254798850535,-0.7775404293847015]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[0.15387310386645514,-0.8105696195620558,0.71338606911949],"aabb_xy":[[0.09387310222353326,-0.8625697688539999],[0.21387310550937697,-0.7585694702701116]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[0.6581585039474855,1.2950141460505376,0.71338606911949],"aabb_xy":[[0.6231585040514666,1.2866399105385975],[0.6931585038435043,1.3033883815624776]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[-0.3476878914955936,-0.43947387365128243,0.71338606911949],"aabb_xy":[[-0.3977853554766672,-0.5034738741610942],[-0.29759042751452,-0.37547387314147057]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.3315059552015577,1.44265509522813,0.71338606911949],"aabb_xy":[[-0.36147351211138334,1.4126550949302445],[-0.301538398291732,1.472655095526016]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[0.32541032230217404,-2.151330487148527,0.71338606911949],"aabb_xy":[[0.2614103203898317,-2.2072416364065375],[0.3894103242145164,-2.0954193378905166]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.10118008009655666,1.734400488691692,0.71338606911949],"aabb_xy":[[-0.19118008243057572,1.656918134106579],[-0.011180077762537585,1.8118828432768044]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[-0.06274020295787619,-1.9780788833111793,0.71338606911949],"aabb_xy":[[-0.10398901398779091,-2.0330788828233963],[-0.021491391927961453,-1.9230788837989616]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[-0.2975091498754368,0.5790504830291647,0.71338606911949],"aabb_xy":[[-0.3525014005109478,0.5240504812858521],[-0.24251689923992592,0.6340504847724776]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[-0.15298756359538868,-2.385375826574846,0.71338606911949],"aabb_xy":[[-0.2029606291279042,-2.4353758263873795],[-0.10301449806287324,-2.3353758267623137]]}],"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":0.6529520566234002,"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/285.png","name":"285"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/285.png","name":"285"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3211.png","name":"3211"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1320.png","name":"1320"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1521.png","name":"1521"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5296.png","name":"5296"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":762.4629669972472,"rotation_z_degrees":58.88929611632021,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004327472305902927,-0.0059699603071612685,-0.010847324733025406]},{"name":"camera_2","offset_m":[-0.007852590005849315,-0.00165004087858215,-0.017826630525463495]},{"name":"camera_3","offset_m":[0.008703968840269995,-0.01887256385426628,0.00753857486232767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006109118808489571,-0.0018353583623557284,-0.0009672620222509396],"end_effector_yaw_offset_degrees":0.8992339539971401},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00048131960482204576,9.388295426620208e-05,0.0014486865476128728],"end_effector_yaw_offset_degrees":-0.7772020055551672},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011239315984329116,0.001213407665994641,-6.570745385021666e-05],"end_effector_yaw_offset_degrees":0.8813005699219907}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022334293876208767,0.0028427794763307866],"position_m":[0.22053342938762088,0.27004277947633076,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003473008752180197,-0.004753832284690213],"position_m":[0.2215730087521802,-0.3601538322846902,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006717983173585192,-0.0010394928915911763],"position_m":[0.31602820168264145,-0.06023949289159118,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034541561749652783,-0.002497317157555421],"position_m":[0.3530458438250347,0.16340268284244458,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0a48e2ea2616f2ee434c1739f75db023988030aee2fb95d9cc18698b7d5b287","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_285/tex_ceiling_textures_5296/tex_floor_textures_1521/tex_table_textures_3211/tex_wall_textures_1320","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5101399811268367307,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5101399811268367307,"visual_seed":5101399811268367307,"scene_id":"lab_003","finished_at":"2026-09-04T17:25:51"} +{"episode_id":"ep_000034","started_at":"2026-09-04T17:25:54","dimensions":{"distractor":{"count":33,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.10921580343991055,0.9401919339947931,0.71338606911949],"aabb_xy":[[-0.14624991286797023,0.9058147266610836],[-0.07218169401185083,0.9745691413285025]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.5834544431921957,-1.5974338409636681,0.71338606911949],"aabb_xy":[[0.533461331083004,-1.6474338416378642],[0.6334475553013877,-1.547433840289473]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[0.4353739059311683,0.22269351012413452,0.71338606911949],"aabb_xy":[[0.42602689834887314,0.2083898879064905],[0.4447209135134636,0.23699713234177855]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[0.16919904579112643,-1.368950437481437,0.71338606911949],"aabb_xy":[[0.11419904616938062,-1.4239341302689097],[0.2241990454128723,-1.3139667446939642]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.5287547255121651,0.5419401488418436,0.71338606911949],"aabb_xy":[[-0.5367809961427911,0.533188653864491],[-0.5207284548815391,0.5506916438191962]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.014354803618727319,1.6510728889035708,0.71338606911949],"aabb_xy":[[-0.10435480729564547,1.589640482326466],[0.07564520005819085,1.7125052954806748]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.5025847624365807,1.6241410082820162,0.71338606911949],"aabb_xy":[[0.49867088924115816,1.6153919928754592],[0.5064986356320031,1.6328900236885728]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.10839428875613433,-1.5483571298058916,0.71338606911949],"aabb_xy":[[-0.1387923998552779,-1.578764031807561],[-0.07799617765699073,-1.517950227804222]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.6818481491153721,1.5542970336447044,0.71338606911949],"aabb_xy":[[0.6662923797051069,1.5387466004002976],[0.6974039185256374,1.569847466889112]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.29198001282387875,-1.9888667675313523,0.71338606911949],"aabb_xy":[[-0.2960581707309285,-1.9929477477796154],[-0.287901854916829,-1.9847857872830887]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.4513268232734171,0.85592491644756,0.71338606911949],"aabb_xy":[[0.4412451161948435,0.7759249185554451],[0.4614085303519905,0.9359249143396744]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[0.5148940182130959,-1.2437814137914016,0.71338606911949],"aabb_xy":[[0.47739401826932937,-1.2520745038262382],[0.5523940181568622,-1.235488323756565]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[-0.27838190569026855,1.7220242288358798,0.71338606911949],"aabb_xy":[[-0.3008819052139759,1.699528281385259],[-0.2558819061665611,1.7445201762865006]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[0.2807265823644104,1.4297844173202274,0.71338606911949],"aabb_xy":[[0.20072658520483505,1.4182368163624102],[0.3607265795239856,1.4413320182780442]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.4384692914674489,1.655719518469828,0.71338606911949],"aabb_xy":[[-0.5184692936302113,1.575764334843684],[-0.35846928930468647,1.7356747020959713]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.18076380985634732,-0.9539996852979395,0.71338606911949],"aabb_xy":[[0.1267482135744473,-1.0179996881901965],[0.2347794061382473,-0.8899996824056823]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[-0.17607347886510716,-2.540608158326764,0.71338606911949],"aabb_xy":[[-0.19195797213043234,-2.5549610986255877],[-0.16018898559978204,-2.526255218027939]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[-0.09025788538119428,-2.207995439149601,0.71338606911949],"aabb_xy":[[-0.1401405822588905,-2.2579954383958762],[-0.04037518850349809,-2.1579954399033268]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[0.4310202872010491,-2.3143268706217204,0.71338606911949],"aabb_xy":[[0.35102028692744214,-2.387276418447437],[0.5110202874746561,-2.2413773227960037]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.33167454415992226,-1.4396431730654575,0.71338606911949],"aabb_xy":[[0.32289331701268603,-1.4484229203539878],[0.3404557713071585,-1.4308634257769277]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[-0.16133929095120003,-0.47597133565778504,0.71338606911949],"aabb_xy":[[-0.1858529150482059,-0.5002359289598215],[-0.13682566685419417,-0.45170674235574865]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[0.021069916833912572,-0.8852506881407318,0.71338606911949],"aabb_xy":[[0.00596761537289447,-0.9003522097717934],[0.036172218294930655,-0.8701491665096698]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[-0.2987473170544888,-0.47162173966617704,0.71338606911949],"aabb_xy":[[-0.3537473152562336,-0.5121437062926146],[-0.24374731885274395,-0.43109977303973945]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[-0.2018075868190981,1.3239693418150704,0.71338606911949],"aabb_xy":[[-0.20984392152038292,1.3159312225106536],[-0.19377125211781324,1.3320074611194872]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[-0.22763283229547793,-1.3296100471309948,0.71338606911949],"aabb_xy":[[-0.24513283255481463,-1.3437015893197677],[-0.2101328320361414,-1.3155185049422224]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[0.4916677368178992,-0.2754976584425979,0.71338606911949],"aabb_xy":[[0.4276677351399018,-0.3240150499219121],[0.5556677384958966,-0.22698026696328366]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[0.5845493023901629,0.07274327715547013,0.71338606911949],"aabb_xy":[[0.5595493028384243,0.0626007932903354],[0.6095493019419013,0.08288576102060484]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[-0.38428826763480356,-2.5196156973151975,0.71338606911949],"aabb_xy":[[-0.4211388155717911,-2.5571156981382313],[-0.3474377196978159,-2.482115696492164]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_28","position":[0.03098848138213206,0.7818924994917946,0.71338606911949],"aabb_xy":[[-0.01901151819420266,0.7319119205396888],[0.08098848095846678,0.8318730784439007]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_29","position":[0.48466434738427666,-0.1635020752995917,0.71338606911949],"aabb_xy":[[0.4738127411354011,-0.1743613660272427],[0.4955159536331523,-0.15264278457194067]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_30","position":[-0.22404358832958127,-1.8200474868827072,0.71338606911949],"aabb_xy":[[-0.28803928572467785,-1.8840474851834157],[-0.16004789093448468,-1.7560474885819983]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_31","position":[-0.23459916287894972,-0.18131160335731433,0.71338606911949],"aabb_xy":[[-0.2450107215594334,-0.1866573366932128],[-0.22418760419846598,-0.17596587002141587]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_32","position":[0.44566416693872357,1.011535930674747,0.71338606911949],"aabb_xy":[[0.4408205721774936,1.0066842781957628],[0.45050776169995355,1.016387583153731]]}],"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":0.6504169364121044,"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/9748.png","name":"9748"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9748.png","name":"9748"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3661.png","name":"3661"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5397.png","name":"5397"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6986.png","name":"6986"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7714.png","name":"7714"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":558.514835928525,"rotation_z_degrees":122.50542134585129,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011687750137088167,-0.0021433227687179188,-0.018551275360748926]},{"name":"camera_2","offset_m":[0.014912350717187325,-0.01518641633136785,-0.002942529117465474]},{"name":"camera_3","offset_m":[0.018379179438646132,-0.018283727769428954,-0.007785517182446959]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006056132165909427,0.0018579691951178695,0.0019480962102433252],"end_effector_yaw_offset_degrees":0.8634785696348681},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019422956221277947,-0.0011054675777779567,0.0004355193366969725],"end_effector_yaw_offset_degrees":-0.9847315053506684},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00011501974798807518,0.00041358094649125796,0.00013242780942412415],"end_effector_yaw_offset_degrees":0.4127183053724046}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00017624016854559353,-0.001703102788654015],"position_m":[0.2181237598314544,0.26549689721134595,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004369508870673518,0.0012399504785429675],"position_m":[0.22246950887067352,-0.354160049521457,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011235833405342146,-0.0042985603392551655],"position_m":[0.3155764166594658,-0.06349856033925516,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017505885236833198,-0.0030606925512391735],"position_m":[0.35474941147631667,0.16283930744876082,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"122e212f2ce5d7ee64c0b5b9be82248c009e8a1d3cc6e9bbe449d0a440fe46f0","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9748/tex_ceiling_textures_7714/tex_floor_textures_6986/tex_table_textures_3661/tex_wall_textures_5397","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3346525254465951597,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3346525254465951597,"visual_seed":3346525254465951597,"scene_id":"lab_003","finished_at":"2026-09-04T17:28:42"} +{"episode_id":"ep_000035","started_at":"2026-09-04T17:28:47","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[0.4639162079961612,-2.475712920273447,0.71338606911949],"aabb_xy":[[0.41391693282772507,-2.5257129215493945],[0.5139154831645973,-2.4257129189975]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[-0.4426701225586406,-2.4907186228488807,0.71338606911949],"aabb_xy":[[-0.506670124901442,-2.5356594740930127],[-0.378670120215839,-2.4457777716047477]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.42726402231413396,-1.3715891442811121,0.71338606911949],"aabb_xy":[[0.38976402079850225,-1.382815917297257],[0.46476402382976567,-1.3603623712649668]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.447430332630248,-2.3327036724557026,0.71338606911949],"aabb_xy":[[0.42243033335828567,-2.349049036051865],[0.47243033190221023,-2.3163583088595403]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[0.22249828421018014,-2.2700053124964983,0.71338606911949],"aabb_xy":[[0.219057607970123,-2.2738667454708628],[0.22593896045023734,-2.266143879522134]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.3643299164227811,1.756584885438858,0.71338606911949],"aabb_xy":[[0.3143299177768599,1.7066653417793953],[0.4143299150687023,1.80650442909832]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.592059525395918,-0.8702898010241584,0.71338606911949],"aabb_xy":[[-0.6079440186612431,-0.8846427413229825],[-0.5761750321305928,-0.8559368607253344]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.37953049461942057,0.10012682633721148,0.71338606911949],"aabb_xy":[[-0.3892864841285944,0.09036429227797703],[-0.3697745051102466,0.10988936039644591]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.5839733986551697,-0.5679149608212963,0.71338606911949],"aabb_xy":[[-0.621473399152528,-0.5718836443694147],[-0.5464733981578115,-0.5639462772731779]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[-0.057636107959091465,-0.3042013924776623,0.71338606911949],"aabb_xy":[[-0.08122123142298632,-0.3692013947230941],[-0.03405098449519661,-0.23920139023223053]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[0.2118206282458599,-0.7629679223266541,0.71338606911949],"aabb_xy":[[0.14782063113375424,-0.8120002921210647],[0.2758206253579656,-0.7139355525322435]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[0.48175299151632167,0.6952106569107754,0.71338606911949],"aabb_xy":[[0.41175298938489213,0.6724486912850797],[0.5517529936477512,0.717972622536471]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[-0.39724492969833897,-0.9196461625271097,0.71338606911949],"aabb_xy":[[-0.4772449267125869,-0.9397807142005209],[-0.31724493268409093,-0.8995116108536984]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[0.44871800674817486,0.4651928719339078,0.71338606911949],"aabb_xy":[[0.407700063361804,0.4151928713029504],[0.48973595013454574,0.5151928725648651]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[-0.62640449322487,0.5102857722579972,0.71338606911949],"aabb_xy":[[-0.6396354387595512,0.4970583532359977],[-0.6131735476901886,0.5235131912799965]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.5879104034099113,-2.1142555546803115,0.71338606911949],"aabb_xy":[[-0.6428841254462443,-2.1692555542445446],[-0.5329366813735785,-2.0592555551160783]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.3584511713227564,0.6480060066143953,0.71338606911949],"aabb_xy":[[-0.38173301352088773,0.5630060053171672],[-0.33516932912462505,0.7330060079116233]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[0.452280271156394,-0.8175320290656878,0.71338606911949],"aabb_xy":[[0.40700165627524476,-0.8815320284138715],[0.4975588860375433,-0.7535320297175041]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.456333035099763,-1.934722433882183,0.71338606911949],"aabb_xy":[[0.41883303475153516,-1.9465138294632665],[0.4938330354479907,-1.9229310383010993]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[-0.098880437597889,-2.153082258371379,0.71338606911949],"aabb_xy":[[-0.10433838323490907,-2.233082261679038],[-0.09342249196086894,-2.07308225506372]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[-0.29031288461001126,0.8687882655567964,0.71338606911949],"aabb_xy":[[-0.30218496762151237,0.7837882658631462],[-0.27844080159851015,0.9537882652504469]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[0.01966576447201851,1.7574800062660185,0.71338606911949],"aabb_xy":[[0.002165765337651337,1.7476003792284307],[0.037165763606385675,1.7673596333036063]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.031761053814037044,1.4336788748924607,0.71338606911949],"aabb_xy":[[-0.09576105572637938,1.3777677256344505],[0.0322389480983053,1.4895900241504714]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.4682261706059348,-0.18752988684992422,0.71338606911949],"aabb_xy":[[-0.49013485274528584,-0.20943055367001492],[-0.44631748846658376,-0.16562922002983346]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_24","position":[-0.08558635478733512,-1.8992690865409276,0.71338606911949],"aabb_xy":[[-0.1355594203198506,-1.949269086353461],[-0.035613289254819665,-1.8492690867283952]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_25","position":[-0.331060657764296,1.6285982602085354,0.71338606911949],"aabb_xy":[[-0.3390546463419994,1.620598180113445],[-0.3230666691865926,1.6365983403036257]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[0.14846944166469545,-1.1534606562434155,0.71338606911949],"aabb_xy":[[0.14243242866403072,-1.1594873573123639],[0.15450645466536017,-1.1474339551744677]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_27","position":[0.22923737663451482,1.3175055429692661,0.71338606911949],"aabb_xy":[[0.1492373755613945,1.3077274966318817],[0.30923737770763515,1.3272835893066506]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_28","position":[0.6485324004007624,1.3672120011321809,0.71338606911949],"aabb_xy":[[0.6150532331397215,1.333732887761074],[0.6820115676618034,1.4006911145032879]]}],"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":0.652258180333627,"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/9611.png","name":"9611"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9611.png","name":"9611"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8170.png","name":"8170"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8803.png","name":"8803"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4034.png","name":"4034"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6405.png","name":"6405"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":684.1361486680287,"rotation_z_degrees":19.107887964972264,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01775725894311465,0.016166512381665676,-0.004843250565366133]},{"name":"camera_2","offset_m":[0.0064192967879530514,-0.004294142979361846,0.009263708357033235]},{"name":"camera_3","offset_m":[-0.019383166840355202,-0.015510680412465052,-0.010618976056274687]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001339296214931708,0.001505535358115634,8.397090034364344e-06],"end_effector_yaw_offset_degrees":-0.681736706548737},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019669100918757953,-0.000973733372827999,-0.0002865379641680873],"end_effector_yaw_offset_degrees":0.16128198883822442},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.096498202168765e-05,0.000617415556873569,-0.0008447183828520863],"end_effector_yaw_offset_degrees":0.26089083038576333}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004648672820594844,0.0014251384515670549],"position_m":[0.22294867282059483,0.26862513845156705,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033102194314626266,-0.0037412537234009615],"position_m":[0.2214102194314626,-0.35914125372340094,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0020471733976177887,-0.0018957547784178995],"position_m":[0.31874717339761777,-0.0610957547784179,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012648287024812034,-0.0021828784115206514],"position_m":[0.35776482870248116,0.16371712158847934,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2183db5a430f5d1b0e142522cacbcfc7b5eb3bf3c349a528b0d5e0b37101212e","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9611/tex_ceiling_textures_6405/tex_floor_textures_4034/tex_table_textures_8170/tex_wall_textures_8803","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1153692529057351690,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1153692529057351690,"visual_seed":1153692529057351690,"scene_id":"lab_003","finished_at":"2026-09-04T17:31:36"} +{"episode_id":"ep_000036","started_at":"2026-09-04T17:31:40","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[0.2521068006226085,-1.7033079659582646,0.71338606911949],"aabb_xy":[[0.23655103121234328,-1.718858399202672],[0.2676625700328738,-1.6877575327138576]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.22697085595855077,-1.5045495288043962,0.71338606911949],"aabb_xy":[[-0.2505559794224456,-1.569549531049828],[-0.2033857324946559,-1.4395495265589644]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.5460166209467558,-2.333825791801819,0.71338606911949],"aabb_xy":[[0.5135549200648283,-2.363958623916721],[0.5784783218286832,-2.3036929596869156]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.19867433648613175,1.2585163769431298,0.71338606911949],"aabb_xy":[[0.14867433784021056,1.2085968332836674],[0.24867433513205295,1.3084359206025922]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.5821000001155741,-0.04126248104033303,0.71338606911949],"aabb_xy":[[0.5743968094414971,-0.04897185173907103],[0.589803190789651,-0.03355311034159502]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.40662707129189174,1.1231315052170459,0.71338606911949],"aabb_xy":[[-0.4119595859465047,1.1178071769718103],[-0.40129455663727875,1.1284558334622814]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.251281359714829,1.5335793360205403,0.71338606911949],"aabb_xy":[[-0.25524184348456336,1.5259114714350197],[-0.24732087594509464,1.541247200606061]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[-0.6352861148746981,-2.435811988459586,0.71338606911949],"aabb_xy":[[-0.6429103829648762,-2.44344521199613],[-0.6276618467845198,-2.4281787649230426]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[-0.3935566814398232,0.6726124412633698,0.71338606911949],"aabb_xy":[[-0.44853040347615614,0.6176124416991368],[-0.33858295940349037,0.7276124408276031]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[0.454549031350427,0.8765342862463155,0.71338606911949],"aabb_xy":[[0.3745490327631076,0.7972186843081546],[0.5345490299377464,0.9558498881844764]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.5315328852086745,1.6628969482865386,0.71338606911949],"aabb_xy":[[0.513739378273758,1.6450972026907407],[0.5493263921435909,1.680696693882336]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.6845590971068791,0.7229452732317481,0.71338606911949],"aabb_xy":[[0.6775187871733422,0.6429452738320768],[0.6915994070404162,0.8029452726314197]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[-0.4785672620141068,0.8540133953817133,0.71338606911949],"aabb_xy":[[-0.5425672591262125,0.8049810255873026],[-0.4145672649020012,0.9030457651761238]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.20180846054834933,-2.1367088872299864,0.71338606911949],"aabb_xy":[[0.14180846070178255,-2.193527509423025],[0.2618084603949161,-2.0798902650369477]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[0.0380396240632771,-1.6536587818134643,0.71338606911949],"aabb_xy":[[0.015525932239819906,-1.7236587824144716],[0.060553315886734294,-1.5836587812124565]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.1922053463895228,-0.11021213409678499,0.71338606911949],"aabb_xy":[[-0.196341202722223,-0.147712133541142],[-0.1880694900568226,-0.072712134652428]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[0.6959565742145404,1.0465097075551602,0.71338606911949],"aabb_xy":[[0.679279438221445,1.0298097835812299],[0.712633710207636,1.0632096315290904]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[0.3321223482364666,1.3519836332575714,0.71338606911949],"aabb_xy":[[0.29462234672083487,1.3407568602414264],[0.3696223497520983,1.3632104062737165]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.14415648256867364,1.0324630053855457,0.71338606911949],"aabb_xy":[[-0.15065811907667825,1.0226951833592361],[-0.13765484606066902,1.0422308274118557]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[0.042288208237924896,-2.3119871664487417,0.71338606911949],"aabb_xy":[[-0.04771179035654505,-2.328237752762163],[0.13228820683239484,-2.2957365801353213]]},{"name":"lh_cell_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_20","position":[-0.3220554114151256,-0.26680727255664216,0.71338606911949],"aabb_xy":[[-0.38605541211859506,-0.3128256550295632],[-0.25805541071165633,-0.2207888900837212]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[-0.16166826175128524,1.7277884482769612,0.71338606911949],"aabb_xy":[[-0.19916826032690602,1.715052152613403],[-0.12416826317566441,1.740524743940519]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[0.6300903651215664,-1.0935216303803466,0.71338606911949],"aabb_xy":[[0.5400903627875473,-1.1710039849654592],[0.7200903674555854,-1.016039275795234]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[0.5594947459144921,1.293469463798095,0.71338606911949],"aabb_xy":[[0.46949474619131787,1.270396111262915],[0.6494947456376662,1.3165428163332746]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[0.4328399636900191,0.2613741802168361,0.71338606911949],"aabb_xy":[[0.40235571356298894,0.21137418043534018],[0.46332421381704925,0.31137417999833206]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[0.5704800061533615,-0.7551247020141254,0.71338606911949],"aabb_xy":[[0.5405124492435358,-0.785124702312011],[0.6004475630631871,-0.7251247017162396]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_26","position":[-0.1824000474721218,-2.3618040484151406,0.71338606911949],"aabb_xy":[[-0.21740004736814067,-2.37017828392708],[-0.14740004757610292,-2.3534298129032]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[-0.5230499033767538,1.5795031767100904,0.71338606911949],"aabb_xy":[[-0.5331316104553272,1.4995031788179758],[-0.5129681962981802,1.659503174602205]]}],"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":0.6489566434468615,"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/4468.png","name":"4468"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4468.png","name":"4468"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4820.png","name":"4820"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5128.png","name":"5128"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2795.png","name":"2795"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2272.png","name":"2272"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":704.4176825934354,"rotation_z_degrees":70.72591207810734,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00019232118268603174,-0.01238667711772307,-0.005947057769190649]},{"name":"camera_2","offset_m":[0.01665135050328136,0.013126431399703844,-0.0030445909364557357]},{"name":"camera_3","offset_m":[0.001621715105086543,0.005908631206886495,0.012780757778471038]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013502881791528452,-0.0018825073408572314,-0.0017024257981290338],"end_effector_yaw_offset_degrees":0.04290008915426102},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009901674077976389,0.0017477876697763964,0.0014562034207514338],"end_effector_yaw_offset_degrees":-0.10906562738860548},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013012454006715375,-0.0016504885777355006,-0.001142715719859782],"end_effector_yaw_offset_degrees":0.8542863470866529}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0035638804635897007,0.001559175679182647],"position_m":[0.21473611953641028,0.2687591756791826,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[5.446951776620721e-05,0.00420682313616329],"position_m":[0.2181544695177662,-0.3511931768638367,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0034790709394397082,1.727315221856235e-05],"position_m":[0.31322092906056026,-0.05918272684778144,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019412099748176911,-0.004016223189849526],"position_m":[0.35844120997481765,0.16188377681015045,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d015569a948f6842936fe62c081f12606bc14af6d80ed15081560e4b5ce9376","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4468/tex_ceiling_textures_2272/tex_floor_textures_2795/tex_table_textures_4820/tex_wall_textures_5128","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":734163456296196991,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":734163456296196991,"visual_seed":734163456296196991,"scene_id":"lab_003","finished_at":"2026-09-04T17:34:37"} +{"episode_id":"ep_000037","started_at":"2026-09-04T17:34:41","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.49111003534476405,1.2323514405488858,0.71338606911949],"aabb_xy":[[-0.5087856659333623,1.214671224269483],[-0.4734344047561657,1.2500316568282885]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.2611845601170413,1.3660821463684165,0.71338606911949],"aabb_xy":[[-0.3161768107525523,1.311082144625104],[-0.2061923094815304,1.4210821481117295]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.22176251940289843,-0.48070326779654327,0.71338606911949],"aabb_xy":[[-0.2717625210643932,-0.5307017100522459],[-0.1717625177414037,-0.4307048255408405]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.17931533789943843,0.9328482267330518,0.71338606911949],"aabb_xy":[[-0.18939704497801188,0.8528482288409371],[-0.16923363082086493,1.0128482246251664]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.3808278780344101,-2.258783774654346,0.71338606911949],"aabb_xy":[[-0.44082787828581127,-2.3130650996908106],[-0.3208278777830089,-2.204502449617881]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.31734910747375156,1.4670887624499103,0.71338606911949],"aabb_xy":[[0.2798491066817561,1.4607209214917198],[0.354849108265747,1.4734566034081003]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[-0.4456656486109113,-1.4165118188880064,0.71338606911949],"aabb_xy":[[-0.46813041858231647,-1.4390118197668669],[-0.42320087863950623,-1.3940118180091459]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[-0.29233668910844535,-1.7137949522407374,0.71338606911949],"aabb_xy":[[-0.3024897046625946,-1.7498644938134773],[-0.28218367355429586,-1.6777254106679966]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[-0.034971572618082036,-1.0715929159254904,0.71338606911949],"aabb_xy":[[-0.04820251815276332,-1.0848203349474896],[-0.021740627083400736,-1.0583654969034908]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[-0.2468958280011831,-1.27775154121416,0.71338606911949],"aabb_xy":[[-0.26295775545970074,-1.3627515430267516],[-0.23083390054266548,-1.192751539401568]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[0.3143145790976929,-1.2808809288647183,0.71338606911949],"aabb_xy":[[0.2992122776366747,-1.29598245049578],[0.3294168805587109,-1.2657794072336561]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.40440984099676314,1.46619795320203,0.71338606911949],"aabb_xy":[[0.4002938908846904,1.4620823981691844],[0.40852579110883575,1.4703135082348755]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[0.24724695676854758,1.7684734780860736,0.71338606911949],"aabb_xy":[[0.23647398284717977,1.7334734798670346],[0.25801993068991536,1.8034734763051126]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.4010516364323786,-1.738513590559201,0.71338606911949],"aabb_xy":[[0.39559369079535855,-1.81851359386686],[0.4065095820693987,-1.6585135872515417]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[0.13907396334684652,-2.1805110460949324,0.71338606911949],"aabb_xy":[[0.1266066052371109,-2.192976370728256],[0.1515413214565822,-2.168045721461609]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[0.3971595271419486,-0.319757758901245,0.71338606911949],"aabb_xy":[[0.3889449820262645,-0.3284343491988862],[0.40537407225763245,-0.31108116860360363]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[-0.5418657226124828,0.2771566228378326,0.71338606911949],"aabb_xy":[[-0.5479027356131475,0.2711299217688844],[-0.535828709611818,0.2831833239067808]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.46861421461280406,0.022941467602430432,0.71338606911949],"aabb_xy":[[0.4609110239387269,0.015232096903692424],[0.476317405286881,0.030650838301168434]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[0.22493082155516841,-2.300763187521227,0.71338606911949],"aabb_xy":[[0.1449308182911553,-2.31432321983014],[0.30493082481918155,-2.2872031552123135]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[-0.4394260500162268,-2.108435615362617,0.71338606911949],"aabb_xy":[[-0.5044260485732996,-2.1381881487764995],[-0.37442605145915403,-2.0786830819487343]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.48314671038754653,-2.0172537954851517,0.71338606911949],"aabb_xy":[[-0.5631467090444325,-2.0317586544094146],[-0.4031467117306605,-2.002748936560889]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[0.28869562966606277,-1.9835722512704401,0.71338606911949],"aabb_xy":[[0.27405222411202973,-1.998230970927224],[0.3033390352200957,-1.9689135316136555]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[0.6754128204768302,-0.4301771475745664,0.71338606911949],"aabb_xy":[[0.6302415026286612,-0.49417714471910484],[0.7205841383249991,-0.36617715043002796]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[0.5082904921079423,1.744435418226161,0.71338606911949],"aabb_xy":[[0.4894061083394321,1.7255494934458082],[0.5271748758764525,1.7633213430065138]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_24","position":[0.27754332396250725,0.89556116983043,0.71338606911949],"aabb_xy":[[0.187543320285589,0.8341287632533253],[0.3675433276394254,0.956993576407534]]}],"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":0.6487467402629417,"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/2019.png","name":"2019"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2019.png","name":"2019"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3897.png","name":"3897"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5061.png","name":"5061"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2156.png","name":"2156"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9643.png","name":"9643"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":592.1817693357286,"rotation_z_degrees":349.277105744709,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0054980598090650055,0.00979539699359926,-0.007015589235685446]},{"name":"camera_2","offset_m":[0.01963905755274205,-0.018365133039225434,-0.003456297757879038]},{"name":"camera_3","offset_m":[-0.005775266339705954,-0.011322789086659287,0.018162774231829517]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00021900943430018137,-0.00047518162040996307,-8.996625296114197e-06],"end_effector_yaw_offset_degrees":0.8956640470692319},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006505679094485246,0.0007112808656066934,-0.0019145880547532426],"end_effector_yaw_offset_degrees":-0.49665866411268245},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005423148823222941,0.0014589521404993408,-0.0007638453135245986],"end_effector_yaw_offset_degrees":0.6735160447710837}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0044830838436852385,-0.0015988925934271835],"position_m":[0.21381691615631476,0.26560110740657283,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004233208917095811,-0.0017720599157479812],"position_m":[0.21386679108290418,-0.35717205991574796,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001999483524278499,-0.002751738750798792],"position_m":[0.31869948352427846,-0.0619517387507988,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004932613223829338,0.0006886244744781665],"position_m":[0.3569932613223829,0.16658862447447817,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5f99deabc0f2cc0d1151f322e00ea8475a4f3749de37190164ede343be200da1","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0037.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2019/tex_ceiling_textures_9643/tex_floor_textures_2156/tex_table_textures_3897/tex_wall_textures_5061","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8782721171028308695,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8782721171028308695,"visual_seed":8782721171028308695,"scene_id":"lab_003","finished_at":"2026-09-04T17:37:29"} +{"episode_id":"ep_000038","started_at":"2026-09-04T17:37:32","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.49809251687659895,-0.12998887134157977,0.71338606911949],"aabb_xy":[[-0.5680925184788785,-0.14342166454323735],[-0.4280925152743195,-0.11655607813992219]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[0.6660287149986814,-0.024311516666580157,0.71338606911949],"aabb_xy":[[0.6595270784906768,-0.03407933869288993],[0.672530351506686,-0.014543694640270388]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[-0.5098304136117722,-1.6956608612296464,0.71338606911949],"aabb_xy":[[-0.5432705888077916,-1.7291044870605763],[-0.4763902384157524,-1.6622172353987161]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[0.015208972651704955,1.780741405897397,0.71338606911949],"aabb_xy":[[0.006994427536020974,1.7720648155997551],[0.02342351776738893,1.7894179961950378]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[-0.5428911906468152,-1.4524012204758958,0.71338606911949],"aabb_xy":[[-0.5470270469795155,-1.489901219920253],[-0.5387553343141152,-1.414901221031539]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.49255709888332894,1.0202137869357948,0.71338606911949],"aabb_xy":[[-0.5150570993953695,0.9977219285703964],[-0.47005709837128823,1.0427056453011931]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.10873902451125284,0.5629529720249824,0.71338606911949],"aabb_xy":[[-0.15373902597748168,0.5179531151635017],[-0.06373902304502399,0.6079528288864631]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[0.26691002143557296,-1.0777338421213127,0.71338606911949],"aabb_xy":[[0.20291002002758227,-1.1295227936452372],[0.3309100228435636,-1.0259448905973878]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[-0.336703871703697,-1.5589954436989766,0.71338606911949],"aabb_xy":[[-0.3867031468721332,-1.608995444974924],[-0.28670459653526087,-1.5089954424230296]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[-0.33057484053945074,-0.5270916524214977,0.71338606911949],"aabb_xy":[[-0.33590735519406373,-0.5324159806667332],[-0.32524232588483776,-0.5217673241762621]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[-0.46384171622658804,-0.783893022060967,0.71338606911949],"aabb_xy":[[-0.5188371940472474,-0.8388930234948738],[-0.4088462384059286,-0.72889302062706]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[-0.5314180851068893,-0.6333465781734191,0.71338606911949],"aabb_xy":[[-0.6214180816077609,-0.6792582205918772],[-0.44141808860601744,-0.5874349357549608]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.005917260483306874,0.8289364764711311,0.71338606911949],"aabb_xy":[[-0.02371076741822331,0.8111367308753334],[0.011876246451609562,0.8467362220669288]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.1315884299143425,-1.9530832766249078,0.71338606911949],"aabb_xy":[[-0.2215884335912606,-2.0145156832020117],[-0.04158842623742428,-1.8916508700478027]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[0.38612422611572383,0.7095738585288536,0.71338606911949],"aabb_xy":[[0.3636278046818598,0.6870738587221061],[0.408620647549588,0.732073858335601]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[-0.08893906375956029,1.248849547881505,0.71338606911949],"aabb_xy":[[-0.11222090595769163,1.1638495465842766],[-0.06565722156142895,1.3338495491787328]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.5100037167338765,-0.641908154008483,0.71338606911949],"aabb_xy":[[0.48994530512063605,-0.6619732409176405],[0.5300621283471166,-0.6218430670993255]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.07685866950500586,-0.12064844049465506,0.71338606911949],"aabb_xy":[[-0.10800558834858898,-0.19064843918146224],[-0.045711750661422745,-0.05064844180784789]]},{"name":"lh_cell_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_18","position":[0.4277764278295568,-0.29894090544668384,0.71338606911949],"aabb_xy":[[0.3637764271260875,-0.34495928791960484],[0.4917764285330262,-0.25292252297376283]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[0.19220721018995546,1.3012815341986532,0.71338606911949],"aabb_xy":[[0.13819161390805543,1.2372815313063958],[0.24622280647185543,1.3652815370909102]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[0.16410156280044474,-1.8196074297334077,0.71338606911949],"aabb_xy":[[0.11400409881937115,-1.8836074302432195],[0.2141990267815184,-1.755607429223596]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.28877286967911686,1.6530165112193864,0.71338606911949],"aabb_xy":[[-0.3244020255790766,1.6173838444625332],[-0.2531437137791571,1.6886491779762391]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.10742851166016432,-1.1453898305193855,0.71338606911949],"aabb_xy":[[-0.1501952185395845,-1.2093898339411877],[-0.06466180478074413,-1.0813898270975828]]}],"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":0.6486293916980772,"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/8052.png","name":"8052"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8052.png","name":"8052"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/247.png","name":"247"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6403.png","name":"6403"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9920.png","name":"9920"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5888.png","name":"5888"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":715.0384382987979,"rotation_z_degrees":35.434331859908916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004380257008604978,-0.004877233618606728,-0.0065892500309112385]},{"name":"camera_2","offset_m":[0.008601145933356782,0.017037702730346885,0.0014121286264587342]},{"name":"camera_3","offset_m":[0.004632176837204044,-0.007032411242398853,-0.014753403825754515]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008783817340967809,0.0004970733582591253,-0.0013804132694038387],"end_effector_yaw_offset_degrees":0.7446552391498269},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004170727777335235,-0.0015050165271049032,0.0005666609339109235],"end_effector_yaw_offset_degrees":-0.372498862752509},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010386105948878323,-0.001995937229933758,0.0006018505072971398],"end_effector_yaw_offset_degrees":-0.43575800897401185}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013980511132137795,-0.0008645732585479656],"position_m":[0.21969805111321378,0.26633542674145205,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017482315848431195,0.004128432550951186],"position_m":[0.2198482315848431,-0.3512715674490488,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009243411623516802,-0.0009674484554732452],"position_m":[0.3157756588376483,-0.06016744845547325,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009914712778124378,-0.001660760523809085],"position_m":[0.35749147127781244,0.1642392394761909,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e774ca2b43dc6b12e5e1cb3bf8f7de72542ea4da4bdda813c2ed875fcecf5613","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0038.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8052/tex_ceiling_textures_5888/tex_floor_textures_9920/tex_table_textures_247/tex_wall_textures_6403","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6110639555687519863,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6110639555687519863,"visual_seed":6110639555687519863,"scene_id":"lab_003","finished_at":"2026-09-04T17:40:18"} +{"episode_id":"ep_000039","started_at":"2026-09-04T17:40:21","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.6184625100069798,-2.315252269691081,0.71338606911949],"aabb_xy":[[0.6032996370300427,-2.3304177269862],[0.6336253829839169,-2.3000868123959624]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[-0.5672103914815166,1.124029713476232,0.71338606911949],"aabb_xy":[[-0.622205869302176,1.069029712042325],[-0.5122149136608573,1.179029714910139]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[0.4319959592000149,-1.5053156530006975,0.71338606911949],"aabb_xy":[[0.39449595890784006,-1.5093571284013012],[0.4694959594921897,-1.5012741776000942]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_3","position":[0.4243353165501287,-1.693460650057525,0.71338606911949],"aabb_xy":[[0.3406130910500462,-1.7834606535922208],[0.5080575420502111,-1.603460646522829]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.3586041741776571,1.4975626701391467,0.71338606911949],"aabb_xy":[[0.33360417462591857,1.487420186274012],[0.38360417372939554,1.5077051540042814]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.5123099103561634,-1.7045097641960645,0.71338606911949],"aabb_xy":[[-0.5923099136140062,-1.7845062719880485],[-0.4323099070983203,-1.6245132564040805]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.03554396306203511,-1.9273749418530826,0.71338606911949],"aabb_xy":[[0.002103787866015498,-1.9608185676840124],[0.06898413825805469,-1.8939313160221523]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.6917061727241776,-1.8578443934785316,0.71338606911949],"aabb_xy":[[0.6605592538805943,-1.9278443921653385],[0.7228530915677606,-1.7878443947917242]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.23406420991113164,0.68273382863143,0.71338606911949],"aabb_xy":[[0.16906421135405877,0.6529812952175473],[0.2990642084682045,0.7124863620453126]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.20341730279500791,1.5521729493260241,0.71338606911949],"aabb_xy":[[0.16591730229764967,1.5482042657779054],[0.24091730329236616,1.5561416328741424]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[0.5011635200121538,1.0222060793817427,0.71338606911949],"aabb_xy":[[0.45134674054731905,0.9722060808974393],[0.5509802994769886,1.072206077866046]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[-0.4298627301229015,0.053785083029029845,0.71338606911949],"aabb_xy":[[-0.5198627266237732,0.007873440610571594],[-0.33986273362202973,0.09969672544748806]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.70710638317641,0.937297049177118,0.71338606911949],"aabb_xy":[[0.6962006070888472,0.8572970527782888],[0.7180121592639727,1.0172970455759471]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[-0.49426164593012745,1.7140467328047326,0.71338606911949],"aabb_xy":[[-0.5742616428931666,1.6369710911609592],[-0.4142616489670883,1.791122374448506]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.040982283530104247,0.49060689127091806,0.71338606911949],"aabb_xy":[[-0.04582587829133423,0.48575523879193394],[-0.03613868876887428,0.49545854374990217]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.28398602487810853,1.7658062927648488,0.71338606911949],"aabb_xy":[[0.2726242902248223,1.7544378263585605],[0.29534775953139464,1.7771747591711367]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.08304242555316366,-0.8944754084663171,0.71338606911949],"aabb_xy":[[-0.16304242295675705,-0.9744679796644998],[-0.0030424281495702306,-0.8144828372681342]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.6652362434579284,-1.3694140704049105,0.71338606911949],"aabb_xy":[[0.6369065335093882,-1.3738748125986275],[0.6935659534064686,-1.3649533282111934]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.1557169586245406,-0.6837852046519624,0.71338606911949],"aabb_xy":[[0.1085875796227049,-0.7477852056963641],[0.20284633762637624,-0.6197852036075602]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.4673193977273833,0.4459592422128016,0.71338606911949],"aabb_xy":[[-0.5173193963733045,0.3960396985533392],[-0.4173193990814621,0.49587878587226397]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[0.09293682541122239,-0.9332181759986085,0.71338606911949],"aabb_xy":[[0.08330518919079277,-0.9428554887783173],[0.10256846163165201,-0.9235808632188994]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[0.60698904356704,-0.023965082889255473,0.71338606911949],"aabb_xy":[[0.5369890471570781,-0.04440301854093719],[0.6769890399770017,-0.0035271472375737463]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[-0.46027052050786754,1.550484629124648,0.71338606911949],"aabb_xy":[[-0.4753728219688856,1.5353831074935855],[-0.4451682190468494,1.5655861507557094]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[-0.4480451249440697,-0.3553401153235427,0.71338606911949],"aabb_xy":[[-0.4556693930342479,-0.3629733388600864],[-0.44042085685389143,-0.347706891786999]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[0.11211692023090802,1.3814295876116867,0.71338606911949],"aabb_xy":[[0.04811691701227018,1.3347064757126785],[0.17611692344954588,1.4281526995106952]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[0.47839546759586193,-2.5085419078480093,0.71338606911949],"aabb_xy":[[0.46251097433053684,-2.5228948481468336],[0.49427996086118714,-2.494188967549185]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[0.42454877654262746,1.2470434217335469,0.71338606911949],"aabb_xy":[[0.37456996803231163,1.197043421727828],[0.4745275850529434,1.2970434217392657]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[0.17804281843263747,0.9479092083532001,0.71338606911949],"aabb_xy":[[0.11804281678971562,0.895909059061256],[0.23804282007555932,0.9999093576451443]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[-0.14557144428988567,0.32990527603488173,0.71338606911949],"aabb_xy":[[-0.1829027208151283,0.2952522212400294],[-0.10824016776464304,0.36455833082973405]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[-0.38979314892509015,1.3938933054798195,0.71338606911949],"aabb_xy":[[-0.45479314992559067,1.3431069403251445],[-0.32479314792458963,1.4446796706344944]]}],"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":0.6475882727305502,"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/9103.png","name":"9103"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9103.png","name":"9103"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9209.png","name":"9209"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2589.png","name":"2589"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1475.png","name":"1475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1219.png","name":"1219"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":834.3597355518627,"rotation_z_degrees":160.82950181219223,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015374799917908754,-0.005122332545015236,-0.01291971417311868]},{"name":"camera_2","offset_m":[0.0028703387474677614,-0.00523382330077363,-0.01886193985639994]},{"name":"camera_3","offset_m":[0.01008614605845784,0.0006903884643854538,0.006218158843551879]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009553647307351679,-0.0018049224834117336,0.0014001737351155143],"end_effector_yaw_offset_degrees":0.13073679247488434},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005073437769617724,0.0007516654777251059,0.00021286014241759642],"end_effector_yaw_offset_degrees":0.5426884296502974},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005852305496711167,0.0015326112659752628,-0.0008256756824603303],"end_effector_yaw_offset_degrees":0.6344276189050495}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006915309745168189,0.0008092235842795002],"position_m":[0.21760846902548317,0.2680092235842795,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004095542347560312,-0.004069139685294658],"position_m":[0.21400445765243967,-0.35946913968529465,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002221754534834822,0.0008275470436180923],"position_m":[0.3144782454651652,-0.05837245295638191,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00047121018044594693,-0.00019389914043150755],"position_m":[0.35602878981955405,0.1657061008595685,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e6bc128d0ba6a6f8d8c02e481f8f58d144a39630bc820650d04810ec72e4e69c","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9103/tex_ceiling_textures_1219/tex_floor_textures_1475/tex_table_textures_9209/tex_wall_textures_2589","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1690177583168492015,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1690177583168492015,"visual_seed":1690177583168492015,"scene_id":"lab_003","finished_at":"2026-09-04T17:43:07"} +{"episode_id":"ep_000040","started_at":"2026-09-04T17:43:12","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.4870994917324284,-1.4655733955426045,0.71338606911949],"aabb_xy":[[-0.5220994900025482,-1.4726475232375924],[-0.45209949346230843,-1.458499267847616]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[-0.24019354435106327,-1.8476256226446393,0.71338606911949],"aabb_xy":[[-0.2776935450156419,-1.8633126806448614],[-0.20269354368648454,-1.831938564644417]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[-0.31176380348644617,-2.354022004631028,0.71338606911949],"aabb_xy":[[-0.3617630786548824,-2.4040220059069757],[-0.26176452831801006,-2.3040220033550813]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[0.6111265263134114,-2.438344777814672,0.71338606911949],"aabb_xy":[[0.593450895724813,-2.4560249940940744],[0.6288021569020097,-2.420664561535269]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[0.25469042848593204,-1.1355853202297628,0.71338606911949],"aabb_xy":[[0.21719042838033906,-1.1424074820827437],[0.29219042859152494,-1.1287631583767814]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.3278440270427738,-1.9888877582492852,0.71338606911949],"aabb_xy":[[-0.35413285136321443,-2.015159191903936],[-0.3015552027223331,-1.9626163245946338]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.3193185320530465,-0.294347489315812,0.71338606911949],"aabb_xy":[[-0.3287360066229092,-0.303763666453531],[-0.3099010574831837,-0.2849313121780929]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[-0.2827527933295218,-1.3195829886860284,0.71338606911949],"aabb_xy":[[-0.34675279537925385,-1.3596774717753364],[-0.21875279127978986,-1.2794885055967204]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.5701001690017253,0.006156953907338725,0.71338606911949],"aabb_xy":[[0.5599471534475758,-0.029912587665401606],[0.5802531845558746,0.042226495480079056]]},{"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_9","position":[0.012227887373791435,1.7081214662114923,0.71338606911949],"aabb_xy":[[-0.005641220380664058,1.6942885582342813],[0.03009699512824693,1.7219543741887033]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[-0.5658194443184306,1.6349976403513238,0.71338606911949],"aabb_xy":[[-0.5728597542519676,1.5549976409516528],[-0.5587791343848936,1.7149976397509956]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.6291870529502788,0.4278095451075541,0.71338606911949],"aabb_xy":[[0.5987889418511351,0.39740264310588447],[0.6595851640494222,0.4582164471092235]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.6229690198493849,-0.7970578437781468,0.71338606911949],"aabb_xy":[[0.6038567124914062,-0.8161926226553887],[0.6420813272073639,-0.7779230649009047]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[-0.15402969980998737,-0.16808196965389843,0.71338606911949],"aabb_xy":[[-0.2190297009159307,-0.19304734272202675],[-0.08902969870404412,-0.14311659658577017]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[-0.19753396678150908,-1.1323433774622655,0.71338606911949],"aabb_xy":[[-0.21359589424002667,-1.2173433792748571],[-0.18147203932299139,-1.0473433756496735]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[-0.3701559902864655,0.6356467022337804,0.71338606911949],"aabb_xy":[[-0.3877342924754123,0.6180722126596755],[-0.3525776880975186,0.6532211918078853]]},{"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_16","position":[-0.45069668579878996,-0.45457554001413936,0.71338606911949],"aabb_xy":[[-0.5356966842162132,-0.5394498354764243],[-0.3656966873813667,-0.36970124455185444]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[-0.4771799161599747,0.2503566839000193,0.71338606911949],"aabb_xy":[[-0.5471799125699364,0.22991874824833755],[-0.40717991975001283,0.270794619551701]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[0.1608114042083636,-2.390562822501414,0.71338606911949],"aabb_xy":[[0.10581140458661775,-2.4455465152888873],[0.21581140383010944,-2.335579129713942]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.6496164837580811,-0.7818615338002743,0.71338606911949],"aabb_xy":[[-0.6846164820687765,-0.78957654872382],[-0.6146164854473856,-0.7741465188767287]]},{"name":"lh_cell_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_20","position":[0.24390723999694341,0.5592673723768407,0.71338606911949],"aabb_xy":[[0.17990723929347407,0.5132489899039198],[0.30790724070041275,0.6052857548497618]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[0.10009502778779211,-1.6851525892673391,0.71338606911949],"aabb_xy":[[0.030095025151205754,-1.7052574542632044],[0.17009503042437846,-1.6650477242714734]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.3719927185715058,0.51068581159885,0.71338606911949],"aabb_xy":[[-0.3775743902056345,0.4981858117810745],[-0.36641104693737697,0.5231858114166255]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[-0.1254888566658957,-0.2957005593279125,0.71338606911949],"aabb_xy":[[-0.1359004153463794,-0.30104629266381094],[-0.11507729798541197,-0.29035482599201395]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[0.5250824956316749,1.2754574350750372,0.71338606911949],"aabb_xy":[[0.5075824953723383,1.2613658928862648],[0.5425824958910116,1.28954897726381]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[-0.5731673729847169,-2.485324850506743,0.71338606911949],"aabb_xy":[[-0.6231622059126585,-2.5353248494019867],[-0.5231725400567753,-2.4353248516114996]]}],"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":0.650980859227255,"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/6699.png","name":"6699"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6699.png","name":"6699"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3550.png","name":"3550"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4924.png","name":"4924"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6365.png","name":"6365"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1496.png","name":"1496"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":703.3546301443893,"rotation_z_degrees":41.66561883142843,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005254001690615788,-0.009537297739702261,0.011818893281888971]},{"name":"camera_2","offset_m":[-0.009981480169579312,0.010211920062879683,0.01010606890362517]},{"name":"camera_3","offset_m":[0.006941072642390241,0.019708836075313704,-0.0015095823889775019]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009522349657778539,0.0007312102914657842,-6.792854454560444e-05],"end_effector_yaw_offset_degrees":-0.854313420101676},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00014477567916703206,0.0005980815065082142,0.0008371533958726257],"end_effector_yaw_offset_degrees":-0.8445113906078876},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00045491838020114087,-0.0017290051872027865,-0.00043148366601597444],"end_effector_yaw_offset_degrees":0.47896394615290183}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004205821074315124,0.0015258302450140314],"position_m":[0.21409417892568486,0.268725830245014,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021558037014511857,-0.0031715575725237955],"position_m":[0.22025580370145117,-0.3585715575725238,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004078429480278047,0.0009974054834398626],"position_m":[0.320778429480278,-0.05820259451656014,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006038085615287679,-0.0017557440061627128],"position_m":[0.35589619143847123,0.16414425599383728,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"19c1144bdf641c61fc012161542e52d795149517840a369045df140ddb31eea7","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6699/tex_ceiling_textures_1496/tex_floor_textures_6365/tex_table_textures_3550/tex_wall_textures_4924","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1249421660801398406,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1249421660801398406,"visual_seed":1249421660801398406,"scene_id":"lab_003","finished_at":"2026-09-04T17:46:05"} +{"episode_id":"ep_000041","started_at":"2026-09-04T17:46:10","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.6589441217265113,-0.046534446147200814,0.71338606911949],"aabb_xy":[[0.5949441195061042,-0.0909075302724891],[0.7229441239469182,-0.0021613620219125274]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_1","position":[0.392606093224402,1.1287457859217427,0.71338606911949],"aabb_xy":[[0.32260609141565655,1.1073920171575555],[0.4626060950331474,1.1500995546859303]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.35265272760634536,-0.5520948652412452,0.71338606911949],"aabb_xy":[[-0.3851144284882727,-0.5822276973561475],[-0.3201910267244178,-0.5219620331263424]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.15883182742460367,-0.9182157390485595,0.71338606911949],"aabb_xy":[[-0.16346694257683703,-0.922083074125708],[-0.15419671227237025,-0.9143484039714107]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[-0.1914628852421587,-2.0263513911127684,0.71338606911949],"aabb_xy":[[-0.20236866132972142,-2.1063513875115976],[-0.180557109154596,-1.9463513947139393]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.4690743114018899,-1.9870535727928456,0.71338606911949],"aabb_xy":[[-0.5590743081375,-2.04023703611014],[-0.3790743146662796,-1.933870109475551]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.6316552290368109,-2.3772658461193696,0.71338606911949],"aabb_xy":[[0.5766552308350661,-2.4177878127458072],[0.6866552272385558,-2.336743879492932]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[-0.32139220206128705,-2.4349592338276684,0.71338606911949],"aabb_xy":[[-0.3438922015849944,-2.4574551812782888],[-0.2988922025375796,-2.412463286377047]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[0.34387646473798394,-0.840564218884601,0.71338606911949],"aabb_xy":[[0.3314091066282483,-0.8530295435179245],[0.3563438228477196,-0.8280988942512775]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[-0.046383333341829425,-0.7603658055935902,0.71338606911949],"aabb_xy":[[-0.0935127123436651,-0.8243658066379922],[0.0007460456600062518,-0.6963658045491883]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.3020832039143906,-2.1333971030620473,0.71338606911949],"aabb_xy":[[0.27753698829163986,-2.1636459996110844],[0.3266294195371413,-2.1031482065130103]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.5027496860482598,-0.5003864234696493,0.71338606911949],"aabb_xy":[[-0.566749683350606,-0.544752850437506],[-0.43874968874591325,-0.4560199965017925]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[0.27811829028734303,0.5316539458746976,0.71338606911949],"aabb_xy":[[0.24061828949534753,0.5252861049165075],[0.3156182910793384,0.5380217868328877]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.08423008338394167,0.2639819014544429,0.71338606911949],"aabb_xy":[[-0.08834603349601432,0.25986634642159734],[-0.08011413327186899,0.26809745648728833]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[0.5267664481211678,0.5481559849443283,0.71338606911949],"aabb_xy":[[0.476773336011976,0.49815598427013263],[0.5767595602303598,0.5981559856185239]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[-0.4710510547789216,-0.9690786569410028,0.71338606911949],"aabb_xy":[[-0.5310510553749378,-1.0238911294862265],[-0.41105105418290544,-0.9142661843957794]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.004556187569782599,0.9898673463596745,0.71338606911949],"aabb_xy":[[-0.002705060000624815,0.977080336096165],[0.011817435140190014,1.002654356623184]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.10832530022121722,-1.8346802956936892,0.71338606911949],"aabb_xy":[[0.04432529881322655,-1.8864692472176139],[0.17232530162920787,-1.7828913441697645]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.30888605100573924,0.6508649500267878,0.71338606911949],"aabb_xy":[[-0.3217579545066794,0.5708649496129515],[-0.2960141475047991,0.7308649504406238]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.1782701211699418,0.7620446552852695,0.71338606911949],"aabb_xy":[[-0.228270122530829,0.7120667507098539],[-0.12827011980905456,0.8120225598606852]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.14895638745967088,1.1336775217886075,0.71338606911949],"aabb_xy":[[0.0989830934564104,1.08367752123406],[0.1989296814629313,1.1836775223431546]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[0.5249504154318523,1.604712723153804,0.71338606911949],"aabb_xy":[[0.46495041378893054,1.55271257386186],[0.5849504170747742,1.6567128724457483]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.31627024475038096,1.5309498068119383,0.71338606911949],"aabb_xy":[[-0.3518994006503407,1.4953171400550853],[-0.2806410888504212,1.5665824735687912]]}],"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":0.6501359062497322,"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/6276.png","name":"6276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6276.png","name":"6276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8711.png","name":"8711"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1428.png","name":"1428"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9162.png","name":"9162"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7663.png","name":"7663"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":615.0504535669089,"rotation_z_degrees":297.63919350108006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01776810323323282,-0.009315951035050318,-0.01935178705347717]},{"name":"camera_2","offset_m":[-0.011176221926715147,0.007313831805576768,-0.0014293987983425328]},{"name":"camera_3","offset_m":[0.018538482750475736,0.01766402744273297,0.01307240298854603]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010501599413137003,0.0008917118737740018,0.0015615149145900408],"end_effector_yaw_offset_degrees":-0.15527178840393718},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007140277945972113,-0.0005848570983059318,-0.0009726308899239435],"end_effector_yaw_offset_degrees":-0.6844756034471473},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00020602309015387097,-0.0002608530958772737,0.0010044559008087514],"end_effector_yaw_offset_degrees":0.17305526481522993}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019270820376193487,0.0010588949977883774],"position_m":[0.22022708203761934,0.2682588949977884,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0049561400942086204,0.004390657651818212],"position_m":[0.2230561400942086,-0.35100934234818176,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029372241282269876,0.0020398974727623975],"position_m":[0.319637224128227,-0.057160102527237605,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001441746852706387,0.0025216306789715096],"position_m":[0.35794174685270636,0.1684216306789715,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fa62e13ad0fa5d3f61d5ed4c2b35b593d046aa8962e3694be6ec5cff544052a5","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0041.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6276/tex_ceiling_textures_7663/tex_floor_textures_9162/tex_table_textures_8711/tex_wall_textures_1428","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":481546530622185675,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":481546530622185675,"visual_seed":481546530622185675,"scene_id":"lab_003","finished_at":"2026-09-04T17:48:56"} +{"episode_id":"ep_000042","started_at":"2026-09-04T17:48:59","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.3089015200512517,0.658189219491959,0.71338606911949],"aabb_xy":[[0.2589015190321165,0.6217230037541313],[0.35890152107038703,0.6946554352297871]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.41311652184765063,-0.5287946444557319,0.71338606911949],"aabb_xy":[[-0.45530093600848137,-0.5927946447329431],[-0.3709321076868199,-0.4647946441785207]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.37621357300528613,0.19615556839302206,0.71338606911949],"aabb_xy":[[-0.4137135737972816,0.18978772743483194],[-0.3387135722132907,0.20252340935121213]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[0.38092183754500675,-0.727911384655243,0.71338606911949],"aabb_xy":[[0.3634911224660001,-0.7451834993190938],[0.39835255262401315,-0.7106392699913922]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.08977684494119775,1.5760713581653172,0.71338606911949],"aabb_xy":[[-0.09321752118125491,1.572209925190953],[-0.08633616870114057,1.5799327911396819]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[0.5448700239096471,-0.21504626033762042,0.71338606911949],"aabb_xy":[[0.47487002177821747,-0.23780822596331605],[0.6148700260410765,-0.19228429471192474]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.16293088046167692,-1.8274288979651474,0.71338606911949],"aabb_xy":[[-0.1999649898897366,-1.8618061052988568],[-0.12589677103361718,-1.793051690631438]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[-0.11153093179001272,-1.1477100050522415,0.71338606911949],"aabb_xy":[[-0.13511605525390757,-1.2127100072976733],[-0.08794580832611788,-1.0827100028068097]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[-0.5516872594036324,0.24178155773932097,0.71338606911949],"aabb_xy":[[-0.5861497374167202,0.23511788055639812],[-0.5172247813905446,0.24844523492224377]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.3311131414569189,-0.7924725957567409,0.71338606911949],"aabb_xy":[[-0.42080021776503435,-0.8824725960111914],[-0.24142606514880344,-0.7024725955022904]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.3824071452642572,-2.1108048056143676,0.71338606911949],"aabb_xy":[[-0.38730643757082056,-2.1384817249169363],[-0.37750785295769357,-2.083127886311799]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[0.3170955063244345,-2.1623670248964335,0.71338606911949],"aabb_xy":[[0.29946267073090693,-2.1799899709120565],[0.3347283419179621,-2.1447440788808105]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.6667698250606461,-2.2873770165710274,0.71338606911949],"aabb_xy":[[-0.6722277706976661,-2.3673770198786865],[-0.661311879423626,-2.2073770132633683]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.18674552218201634,-1.5675838010685492,0.71338606911949],"aabb_xy":[[0.09674551984799729,-1.6450661556536619],[0.2767455245160354,-1.4901014464834366]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[0.16587848087325907,1.4806576972956615,0.71338606911949],"aabb_xy":[[0.08587847761541614,1.4006611895036774],[0.24587848413110205,1.5606542050876453]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[-0.6712932015176825,-1.7010313828543908,0.71338606911949],"aabb_xy":[[-0.6752070747131049,-1.7097803982609474],[-0.66737932832226,-1.6922823674478338]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[0.18353040383354735,-2.395600881997443,0.71338606911949],"aabb_xy":[[0.15488107147313107,-2.4242464412745184],[0.21217973619396352,-2.366955322720367]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[0.4076183783841456,1.196312323840845,0.71338606911949],"aabb_xy":[[0.3909412423910501,1.179612399866915],[0.4242955143772411,1.2130122478147756]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.30716366044498844,0.38899905848416205,0.71338606911949],"aabb_xy":[[-0.31979044773218473,0.37945298478258915],[-0.29453687315779203,0.39854513218573495]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[0.6926328361317813,-0.02716674281048892,0.71338606911949],"aabb_xy":[[0.6834729571879047,-0.03369796085402593],[0.7017927150756579,-0.02063552476695191]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.5584599473349615,-1.6948839871284225,0.71338606911949],"aabb_xy":[[-0.6224556447300581,-1.7588839854291312],[-0.49446424993986493,-1.6308839888277138]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[0.6932001040262008,-1.8204692230715471,0.71338606911949],"aabb_xy":[[0.6693638863855957,-1.9104692238800336],[0.7170363216668059,-1.7304692222630607]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[0.1351131357728642,-0.6845171154933496,0.71338606911949],"aabb_xy":[[0.08994181792469523,-0.748517112637888],[0.18028445362103318,-0.6205171183488112]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[0.36696293165283,-0.9666161714599042,0.71338606911949],"aabb_xy":[[0.30296292943242303,-1.0109892555851925],[0.4309629338732371,-0.9222430873346159]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_24","position":[-0.10366325370610818,0.9593659005576431,0.71338606911949],"aabb_xy":[[-0.14468119709247906,0.9093658999266858],[-0.0626453103197373,1.0093659011886005]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[0.20652501818296487,-1.2887125257769394,0.71338606911949],"aabb_xy":[[0.19611345950248113,-1.2940582591128376],[0.21693657686344855,-1.2833667924410408]]},{"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_26","position":[-0.0878087535663391,-1.6057003035418407,0.71338606911949],"aabb_xy":[[-0.09710237180348967,-1.6432003020299746],[-0.07851513532918851,-1.5682003050537068]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[-0.387285492323781,1.5716402568057624,0.71338606911949],"aabb_xy":[[-0.4522854902054289,1.520516593099222],[-0.3222854944421333,1.6227639205123037]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_28","position":[-0.4212304724439173,-2.5779427132876966,0.71338606911949],"aabb_xy":[[-0.45623047071403716,-2.5850168409826844],[-0.38623047417379736,-2.570868585592708]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_29","position":[0.6750541650001778,1.1042641976310845,0.71338606911949],"aabb_xy":[[0.6618232194654965,1.0910367786090849],[0.6882851105348591,1.1174916166530837]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_30","position":[-0.3340675110007267,0.7326657686224647,0.71338606911949],"aabb_xy":[[-0.34583569779538426,0.6476657687172432],[-0.3222993242060692,0.8176657685276865]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[-0.5848292913972428,1.5934807518472787,0.71338606911949],"aabb_xy":[[-0.6548292940338291,1.573375886851413],[-0.5148292887606564,1.613585616843144]]}],"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":0.6520996606802661,"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/2953.png","name":"2953"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2953.png","name":"2953"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8889.png","name":"8889"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3490.png","name":"3490"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7612.png","name":"7612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7207.png","name":"7207"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":733.8179575073644,"rotation_z_degrees":66.2439446731222,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0066637109347807005,-0.003680439740006678,0.0024744008944528016]},{"name":"camera_2","offset_m":[0.005236173769069416,0.012789978476103078,0.009698873712319134]},{"name":"camera_3","offset_m":[0.0015611567377121563,0.014286796024334223,0.000992760870505635]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00026706728051488146,-0.0019311793564245963,-0.0003770179442715315],"end_effector_yaw_offset_degrees":0.1443009789650369},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000690559811403348,0.001264472265017838,-0.0016830934432552085],"end_effector_yaw_offset_degrees":0.794386652551125},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000313702098488144,0.0010253730556098063,-0.00019476113241825702],"end_effector_yaw_offset_degrees":0.31432033255728764}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011679645164059367,-0.00033580156429547856],"position_m":[0.21946796451640593,0.2668641984357045,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010544575236514572,-0.0046757105541351774],"position_m":[0.21915445752365145,-0.3600757105541352,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004960775801087715,0.001680874610331817],"position_m":[0.3216607758010877,-0.057519125389668184,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004457792515686292,-0.0011996114632244715],"position_m":[0.36095779251568627,0.16470038853677552,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6aa84aeb88f7bad21e9630e07f3a2fd7c49dd75938fcbc5fd10c69be4f6af56a","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2953/tex_ceiling_textures_7207/tex_floor_textures_7612/tex_table_textures_8889/tex_wall_textures_3490","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":491230586299431327,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":491230586299431327,"visual_seed":491230586299431327,"scene_id":"lab_003","finished_at":"2026-09-04T17:51:46"} +{"episode_id":"ep_000043","started_at":"2026-09-04T17:51:49","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[-0.36485777092728006,0.5428466396186149,0.71338606911949],"aabb_xy":[[-0.42885777009705,0.4960799524996525],[-0.3008577717575101,0.5896133267375774]]},{"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_1","position":[-0.48780756917031887,-1.210520463675325,0.71338606911949],"aabb_xy":[[-0.5237210735953084,-1.2464339718920794],[-0.45189406474532906,-1.1746069554585703]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[-0.004463401228302577,1.758142589599394,0.71338606911949],"aabb_xy":[[-0.04009255712826232,1.722509922842541],[0.031165754671657164,1.7937752563562468]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.45973432238212486,1.1431382096193388,0.71338606911949],"aabb_xy":[[0.39573431909241674,1.099803290615421],[0.523734325671833,1.1864731286232562]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.6293942169047309,-2.3398072021611873,0.71338606911949],"aabb_xy":[[0.5443942182126562,-2.371793065556066],[0.7143942155968055,-2.3078213387663085]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[0.3615487489998397,0.7331627285484705,0.71338606911949],"aabb_xy":[[0.33904874848779903,0.7106708701830722],[0.3840487495118802,0.7556545869138689]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.5765894776938413,-0.1064654524268156,0.71338606911949],"aabb_xy":[[-0.5936915556522094,-0.12357225795808535],[-0.5594873997354731,-0.08935864689554585]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[0.05847938247918838,1.3786826106065302,0.71338606911949],"aabb_xy":[[0.020979384055788024,1.3655183966386992],[0.09597938090258873,1.3918468245743607]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[0.6091566804874913,-2.0603167975519874,0.71338606911949],"aabb_xy":[[0.5291566802138843,-2.1332663453777037],[0.6891566807610983,-1.9873672497262704]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[0.30884448356446836,-1.4276092279945825,0.71338606911949],"aabb_xy":[[0.28634806213060426,-1.4501092278013297],[0.33134090499833246,-1.4051092281878348]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[0.01158080887257562,-2.4137778534570775,0.71338606911949],"aabb_xy":[[-0.010919191370939774,-2.4259824881168495],[0.034080809116091015,-2.4015732187973056]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[0.5436843223374153,-1.5168448561335957,0.71338606911949],"aabb_xy":[[0.5061843219891874,-1.528636251714679],[0.5811843226856429,-1.5050534605525119]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.12754068062135637,1.616782009526633,0.71338606911949],"aabb_xy":[[-0.14665298797933524,1.597647230649391],[-0.10842837326337751,1.635916788403875]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.47216291821754064,-1.5458991219878384,0.71338606911949],"aabb_xy":[[-0.5421629200262861,-1.5672528907520258],[-0.4021629164087952,-1.524545353223651]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.5849445009807737,-1.401244980236305,0.71338606911949],"aabb_xy":[[0.5733755202338371,-1.4262449803532367],[0.5965134817277102,-1.3762449801193732]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[-0.023966143647018767,0.4643629878372568,0.71338606911949],"aabb_xy":[[-0.04587482578636981,0.44246232101716604],[-0.002057461507667724,0.4862636546573475]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.26127179402711964,-2.09701897660418,0.71338606911949],"aabb_xy":[[0.22423768459905993,-2.1313961839378894],[0.2983059034551794,-2.0626417692704706]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.28493168058356355,0.3171135500877109,0.71338606911949],"aabb_xy":[[-0.3320610595853991,0.25311354904330885],[-0.23780230158172777,0.38111355113211276]]},{"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_18","position":[-0.2505895455539607,-0.39804475241918036,0.71338606911949],"aabb_xy":[[-0.2684586533084162,-0.4118776603963913],[-0.2327204377995052,-0.38421184444196943]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[0.5187746727149056,-1.0321303055514532,0.71338606911949],"aabb_xy":[[0.49377467278238774,-1.0390129737723768],[0.5437746726474235,-1.0252476373305301]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.4267626427921546,1.4069064817381127,0.71338606911949],"aabb_xy":[[-0.5067626442222817,1.3273893267255032],[-0.34676264136202734,1.4864236367507222]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[0.05048999272052823,1.2262993880790027,0.71338606911949],"aabb_xy":[[-0.013510009499878801,1.1819263039537142],[0.11448999494093526,1.2706724722042908]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[-0.28614481326465396,0.9191618318448209,0.71338606911949],"aabb_xy":[[-0.2898480745937928,0.9154598135361031],[-0.2824415519355151,0.9228638501535388]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[0.29304308926326883,-2.415662908968935,0.71338606911949],"aabb_xy":[[0.28388321031939223,-2.422194127012472],[0.30220296820714543,-2.409131690925398]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[-0.6803081435770342,-2.229057539081822,0.71338606911949],"aabb_xy":[[-0.6875904599536977,-2.31905754269133],[-0.6730258272003704,-2.139057535472312]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[0.22805125719798192,0.4759410531664452,0.71338606911949],"aabb_xy":[[0.21992356900466872,0.4670274447557375],[0.23617894539129516,0.4848546615771528]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[0.14424253046688162,-1.7797662704645256,0.71338606911949],"aabb_xy":[[0.09424252910599441,-1.8297441750399415],[0.19424253182776885,-1.7297883658891102]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_27","position":[-0.5538074322793861,0.3613485118684743,0.71338606911949],"aabb_xy":[[-0.6438074359563042,0.2999161052913698],[-0.4638074286024678,0.42278091844557847]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[0.6328910206105669,0.09309480128588099,0.71338606911949],"aabb_xy":[[0.5628910242006049,0.07265686563419924],[0.7028910170205285,0.11353273693756269]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[0.07733204768863033,-2.0385003158059183,0.71338606911949],"aabb_xy":[[0.057441007808290104,-2.051156127090615],[0.0972230875689706,-2.0258445045212214]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_30","position":[-0.01286144454663074,-1.1339536895481817,0.71338606911949],"aabb_xy":[[-0.07286144479803192,-1.1882350145846459],[0.047138555704770435,-1.0796723645117166]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_31","position":[0.23096742776209267,0.7152185197801071,0.71338606911949],"aabb_xy":[[0.2268315714293925,0.6777185203357501],[0.2351032840947929,0.7527185192244641]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_32","position":[0.3336058806465392,1.306167644396552,0.71338606911949],"aabb_xy":[[0.2696058803860683,1.261158845043624],[0.39760588090700993,1.35117644374948]]},{"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_33","position":[0.6131870364280876,0.7746809816084674,0.71338606911949],"aabb_xy":[[0.6044890741373723,0.7625560073009928],[0.6218849987188029,0.7868059559159423]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_34","position":[-0.38949739458065225,-2.349057605185404,0.71338606911949],"aabb_xy":[[-0.3996504101348015,-2.3851271467581436],[-0.37934437902650275,-2.312988063612663]]}],"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":0.6483565169712757,"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/4844.png","name":"4844"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4844.png","name":"4844"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6174.png","name":"6174"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6912.png","name":"6912"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6781.png","name":"6781"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8474.png","name":"8474"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":716.6270484678403,"rotation_z_degrees":169.9541660307865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015087618560490481,0.0007582230353544543,-0.003029130532890542]},{"name":"camera_2","offset_m":[-0.017936834163419277,0.0001804523743965461,0.018892310020117587]},{"name":"camera_3","offset_m":[-0.01438602730219388,0.0016232371394069509,-0.0053997349583166186]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014879474596937027,0.001002232733802459,0.0016230065003417656],"end_effector_yaw_offset_degrees":0.054151468748195875},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011361410322904626,0.0007947042928622122,0.001745169083051021],"end_effector_yaw_offset_degrees":0.25800358115683064},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018870457816902355,-0.00029259129674352735,-0.0008482015495261427],"end_effector_yaw_offset_degrees":0.6063945694189739}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017857011656982535,0.0034345974046070824],"position_m":[0.21651429883430173,0.2706345974046071,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-2.0405062608724878e-05,0.00024180892083133874],"position_m":[0.21807959493739126,-0.35515819107916863,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00445408216309789,0.004044237524181889],"position_m":[0.3211540821630979,-0.05515576247581811,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000981096413459703,-0.0027018588383958164],"position_m":[0.3574810964134597,0.16319814116160417,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"79e49bd1940d097a0b123454d8193d2ba954f2fe566bb3de4f6ae07a1bcdfe5d","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4844/tex_ceiling_textures_8474/tex_floor_textures_6781/tex_table_textures_6174/tex_wall_textures_6912","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":9097897047430233974,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":9097897047430233974,"visual_seed":9097897047430233974,"scene_id":"lab_003","finished_at":"2026-09-04T17:54:45"} +{"episode_id":"ep_000044","started_at":"2026-09-04T17:54:48","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.07953919764590722,1.354093389046128,0.71338606911949],"aabb_xy":[[-0.08604083415391185,1.344325567019818],[-0.07303756113790262,1.3638612110724375]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.6368211065966154,1.1603574309901572,0.71338606911949],"aabb_xy":[[-0.6778390499829863,1.1103574303591996],[-0.5958031632102445,1.2103574316211143]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.5113493511854182,-0.3565370707101616,0.71338606911949],"aabb_xy":[[-0.5289276533743651,-0.3741115602842665],[-0.4937710489964714,-0.3389625811360567]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.07049319851884417,-2.543982239425729,0.71338606911949],"aabb_xy":[[0.006493195229136064,-2.587317158429647],[0.1344932018085523,-2.5006473204218116]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.3092001846345276,-1.0718043697634099,0.71338606911949],"aabb_xy":[[0.2717001843423527,-1.0758458451640134],[0.34670018492670235,-1.0677628943628064]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[-0.35495714070141615,-1.7151573153633055,0.71338606911949],"aabb_xy":[[-0.3924571411987744,-1.7191259989114238],[-0.3174571402040579,-1.7111886318151872]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.6170987956440754,1.657654842770016,0.71338606911949],"aabb_xy":[[-0.637383098367474,1.6373722176273071],[-0.5968144929206765,1.6779374679127248]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[-0.3332113722013058,-1.944143388143066,0.71338606911949],"aabb_xy":[[-0.3810175398150744,-2.009143390850125],[-0.28540520458753715,-1.8791433854360071]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.32826439360956283,0.42197932007079286,0.71338606911949],"aabb_xy":[[0.27838169673186663,0.3719793208245181],[0.3781470904872591,0.47197931931706766]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.3718285405133235,0.6339949755438803,0.71338606911949],"aabb_xy":[[0.3636139953976394,0.6253183852462388],[0.38004308562900735,0.6426715658415215]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[-0.5743605915227797,-1.159449098041246,0.71338606911949],"aabb_xy":[[-0.6283761878046796,-1.2234491009335031],[-0.5203449952408796,-1.0954490951489888]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[0.006780661221839068,-1.193777138863374,0.71338606911949],"aabb_xy":[[-0.030719338883753885,-1.2005993007163551],[0.04428066132743202,-1.1869549770103929]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[0.38829706234448547,1.2885042833340412,0.71338606911949],"aabb_xy":[[0.3242970602947535,1.2484098002447335],[0.4522970643942175,1.3285987664233494]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.15005008643838103,-0.3114314334547821,0.71338606911949],"aabb_xy":[[-0.20002315197089654,-0.361431433267315],[-0.1000770209058656,-0.26143143364224924]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.4863616012790727,-0.8480482762044212,0.71338606911949],"aabb_xy":[[-0.523861602071068,-0.8544161171626113],[-0.4488616004870772,-0.8416804352462312]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.17036159166975062,-0.19368546714292645,0.71338606911949],"aabb_xy":[[-0.2053615899804461,-0.20140048206647207],[-0.1353615933590552,-0.18597045221938077]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[0.20017655831840875,0.7497981527684292,0.71338606911949],"aabb_xy":[[0.13017655492684674,0.7144823790649982],[0.2701765617099707,0.78511392647186]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.5114762662031209,0.22785526114493315,0.71338606911949],"aabb_xy":[[0.4564762665813751,0.17287156835746043],[0.5664762658248668,0.2828389539324059]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.3967163417324657,0.8903514226451361,0.71338606911949],"aabb_xy":[[0.3417163435307209,0.8498294560186985],[0.45171633993421056,0.9308733892715737]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[0.2427575056372704,1.3382800922191702,0.71338606911949],"aabb_xy":[[0.20931733044125075,1.30483646638824],[0.27619768083328994,1.3717237180501]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[-0.07469533102779535,1.4625530927121821,0.71338606911949],"aabb_xy":[[-0.0890297561539588,1.4504928771576433],[-0.0603609059016319,1.474613308266721]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[-0.0710451489293249,-1.643393479807515,0.71338606911949],"aabb_xy":[[-0.08660091833959017,-1.6589439130519223],[-0.05548937951905965,-1.627843046563108]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[0.4579954868889229,1.0316209033393244,0.71338606911949],"aabb_xy":[[0.44283261391198586,1.016455446044206],[0.47315835986586,1.0467863606344434]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[0.4779652208912988,1.7001172198652124,0.71338606911949],"aabb_xy":[[0.47192820789063417,1.6940905187962645],[0.4840022338919636,1.7061439209341607]]}],"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":0.6509323857940811,"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/7173.png","name":"7173"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7173.png","name":"7173"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7479.png","name":"7479"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1191.png","name":"1191"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1958.png","name":"1958"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8363.png","name":"8363"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":783.2909472873748,"rotation_z_degrees":45.53797680588862,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015962967407603494,0.0018506720675504351,-0.015401273342987274]},{"name":"camera_2","offset_m":[0.013464837083945014,-0.0025674063891162127,0.011439590683422696]},{"name":"camera_3","offset_m":[0.005326953591260498,0.011320178684354507,0.0018429176855284946]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005014636730938688,0.0017374827830907709,-2.730144801065676e-05],"end_effector_yaw_offset_degrees":0.14063774926187},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001665431297537699,0.0001920445303016092,0.0016498289339826667],"end_effector_yaw_offset_degrees":0.5580688951186128},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019100581296309746,-0.0009714974833970413,0.0011165339583864907],"end_effector_yaw_offset_degrees":0.8058991067181358}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001828410513154861,0.0008617212854243259],"position_m":[0.21647158948684514,0.2680617212854243,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012788213027511205,-0.00440915757966334],"position_m":[0.2193788213027511,-0.3598091575796633,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038824190039607135,-0.0010812169853785854],"position_m":[0.3128175809960393,-0.06028121698537859,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008725044063294064,-0.001765862446821408],"position_m":[0.3573725044063294,0.16413413755317857,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"989ad4ee164f0ae13b72648c87971b7203b68dd34c88d52a13c3b7a18898ca4b","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7173/tex_ceiling_textures_8363/tex_floor_textures_1958/tex_table_textures_7479/tex_wall_textures_1191","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1596314593698414944,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1596314593698414944,"visual_seed":1596314593698414944,"scene_id":"lab_003","finished_at":"2026-09-04T17:57:41"} +{"episode_id":"ep_000045","started_at":"2026-09-04T17:57:44","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.1059437371923142,-2.3173062477664206,0.71338606911949],"aabb_xy":[[-0.10985761038773674,-2.3260552631729774],[-0.10202986399689169,-2.3085572323598638]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[-0.42852003489662427,-2.135298570413908,0.71338606911949],"aabb_xy":[[-0.4339779805336443,-2.215298573721567],[-0.42306208925960415,-2.0552985671062487]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[0.6778039327763721,1.4858968362523854,0.71338606911949],"aabb_xy":[[0.639258239951171,1.4473510651961967],[0.7163496256015731,1.5244426073085742]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[0.5059883040819644,-0.9753396448762266,0.71338606911949],"aabb_xy":[[0.441988302403967,-1.0238570363555408],[0.5699883057599617,-0.9268222533969123]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.03832047494384505,1.6792322565682682,0.71338606911949],"aabb_xy":[[-0.07332047492034088,1.6697676405206516],[-0.0033204749673492184,1.6886968726158849]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[0.32153822848043223,-1.4464132781584609,0.71338606911949],"aabb_xy":[[0.2565382274799317,-1.4971996433131356],[0.38653822948093275,-1.3956269130037857]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.3965326539105142,-2.4941535911955675,0.71338606911949],"aabb_xy":[[-0.44650571944302975,-2.544153591008101],[-0.3465595883779988,-2.444153591383035]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.5246242068429691,-0.307624989184363,0.71338606911949],"aabb_xy":[[-0.6096242055350437,-0.3396108525792418],[-0.4396242081508944,-0.2756391257894841]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[0.48670304263452224,-1.7848797866451764,0.71338606911949],"aabb_xy":[[0.47870905405681874,-1.7928798667402666],[0.4946970312122255,-1.7768797065500859]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[-0.4680876046878453,-1.871548696662544,0.71338606911949],"aabb_xy":[[-0.47686883183508166,-1.8803284439510748],[-0.4593063775406092,-1.8627689493740147]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[-0.6189129572430394,0.9303474121665292,0.71338606911949],"aabb_xy":[[-0.6371187809042871,0.9193220115845374],[-0.6007071335817917,0.9413728127485207]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.055129042179008825,-0.7894518244227808,0.71338606911949],"aabb_xy":[[0.005246345301312621,-0.8394518236690557],[0.10501173905670505,-0.7394518251765061]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[0.5236626720578463,-0.8116730992209951,0.71338606911949],"aabb_xy":[[0.46366267180644505,-0.8659544242574596],[0.5836626723092474,-0.7573917741845303]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.3498020187209239,-0.4194694334822495,0.71338606911949],"aabb_xy":[[-0.35914902630321915,-0.4337730556998936],[-0.3404550111386287,-0.40516581126460555]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[-0.41422177105576513,1.1217512201673703,0.71338606911949],"aabb_xy":[[-0.4517217714039929,1.1099598245862865],[-0.3767217707075374,1.1335426157484536]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[0.371404134244782,1.3784578248451207,0.71338606911949],"aabb_xy":[[0.2914041328146548,1.2989406698325112],[0.4514041356749092,1.4579749798577302]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[-0.5087529548778779,1.3482031044050933,0.71338606911949],"aabb_xy":[[-0.5537455415963283,1.3032031051306445],[-0.46376036815942745,1.393203103679542]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.33821880792493003,-2.094196347632032,0.71338606911949],"aabb_xy":[[-0.34217929169466443,-2.101864212217553],[-0.33425832415519563,-2.0865284830465116]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.5944452506001737,1.5761358971334753,0.71338606911949],"aabb_xy":[[-0.603159219650108,1.5536358964742871],[-0.585731281550239,1.5986358977926636]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.050426008824089874,1.5130262630928866,0.71338606911949],"aabb_xy":[[-0.08474228599870781,1.4630262631197088],[-0.01610973164947193,1.5630262630660643]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.336535540289339,0.43735245105733034,0.71338606911949],"aabb_xy":[[-0.3865348154577752,0.3873524497813832],[-0.28653626512090286,0.48735245233327756]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[-0.6732811375881215,-1.5643273257281332,0.71338606911949],"aabb_xy":[[-0.6796949512313063,-1.5707371459758013],[-0.6668673239449364,-1.5579175054804646]]},{"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_22","position":[0.5755999306767341,1.2105553233866875,0.71338606911949],"aabb_xy":[[0.517969461789463,1.1505553244599769],[0.6332303995640047,1.270555322313398]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[-0.00536280923201593,-1.7338393447691278,0.71338606911949],"aabb_xy":[[-0.017965508369092387,-1.7464347409939933],[0.007239889905060525,-1.7212439485442623]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[-0.22041330251751667,1.1428907257823635,0.71338606911949],"aabb_xy":[[-0.22599497415164543,1.1303907259645878],[-0.21483163088338791,1.1553907256001388]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[0.4656067921191298,-2.161287205131977,0.71338606911949],"aabb_xy":[[0.455195233438646,-2.1666329384678753],[0.4760183507996134,-2.1559414717960785]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[-0.05297134501369738,1.2136245099235148,0.71338606911949],"aabb_xy":[[-0.06998144230374803,1.1974900214252406],[-0.03596124772364672,1.2297589984217885]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[0.5448663222371708,-1.272269576368908,0.71338606911949],"aabb_xy":[[0.4648663236498513,-1.351585178307069],[0.6248663208244901,-1.1929539744307471]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_28","position":[0.356981600763733,-1.0608763462600936,0.71338606911949],"aabb_xy":[[0.33448160025169227,-1.083368204625492],[0.37948160127577346,-1.0383844878946953]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_29","position":[-0.22564118675513578,1.0511209025095103,0.71338606911949],"aabb_xy":[[-0.24314112018911918,1.0336209025892755],[-0.20814125332115244,1.0686209024297446]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_30","position":[-0.4521351367233376,-0.8881972747470379,0.71338606911949],"aabb_xy":[[-0.5171351367576403,-0.9348979514273651],[-0.3871351366890349,-0.8414965980667105]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_31","position":[-0.10650490673183433,-1.9940327759168275,0.71338606911949],"aabb_xy":[[-0.14080181774957495,-2.028329662126769],[-0.0722079957140937,-1.959735889706886]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_32","position":[-0.26424170731169233,-0.4941140743790746,0.71338606911949],"aabb_xy":[[-0.2768684945988886,-0.5036601480806475],[-0.2516149200244959,-0.4845680006775018]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_33","position":[-0.2996933139012495,-1.4229218830112527,0.71338606911949],"aabb_xy":[[-0.3221580838726546,-1.4454218838901132],[-0.27722854392984436,-1.4004218821323922]]}],"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":0.6452548288795037,"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/2326.png","name":"2326"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2326.png","name":"2326"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6432.png","name":"6432"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9571.png","name":"9571"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3873.png","name":"3873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1303.png","name":"1303"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":695.0465643254112,"rotation_z_degrees":1.182356950331962,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018972603456843921,-0.014016049279261648,0.003998960109929676]},{"name":"camera_2","offset_m":[-0.0071296907611218836,0.0032876753789152016,-0.011768342383713834]},{"name":"camera_3","offset_m":[0.011796792527416871,-0.01832568080796028,0.016766602937267627]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006379444838858061,0.0008639058368297902,-0.0011803054006959792],"end_effector_yaw_offset_degrees":0.36063191734192857},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007705588052867715,0.0008722009116151896,0.0005885094972904775],"end_effector_yaw_offset_degrees":-0.41365158185831974},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010147805502887523,-0.0011963125282308722,0.0008537017883501557],"end_effector_yaw_offset_degrees":-0.6499798033469835}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038756639294792814,-0.002346475839783039],"position_m":[0.21442433607052072,0.26485352416021696,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004188681617343874,-0.002378160093120817],"position_m":[0.21391131838265612,-0.3577781600931208,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002861384689552546,0.0018015625902671837],"position_m":[0.31956138468955253,-0.05739843740973282,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003017159803133662,-0.002353971943604736],"position_m":[0.3534828401968663,0.16354602805639526,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cb624e0afe4d90d1b7250584d5cb029062fce5356a6861231ab8ffddf9427a47","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2326/tex_ceiling_textures_1303/tex_floor_textures_3873/tex_table_textures_6432/tex_wall_textures_9571","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5625231950390070377,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5625231950390070377,"visual_seed":5625231950390070377,"scene_id":"lab_003","finished_at":"2026-09-04T18:00:37"} +{"episode_id":"ep_000046","started_at":"2026-09-04T18:00:41","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[-0.068770582767125,1.4730520286399433,0.71338606911949],"aabb_xy":[[-0.09505940708756563,1.4467805949852917],[-0.042481758446684316,1.4993234622945941]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.004735026168257717,-2.35479553945606,0.71338606911949],"aabb_xy":[[-0.01818155280230105,-2.3682653911091514],[0.008711500465785615,-2.3413256878029687]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.10224572441850555,1.6469367479629091,0.71338606911949],"aabb_xy":[[0.09282824984864278,1.6375205708251899],[0.11166319898836828,1.656352925100628]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[-0.6436489329252196,-1.2116741211540925,0.71338606911949],"aabb_xy":[[-0.6719786428737599,-1.2161348633478095],[-0.6153192229766794,-1.2072133789603754]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[-0.44083130705837886,-1.354895166413507,0.71338606911949],"aabb_xy":[[-0.4551657321845423,-1.366955381968046],[-0.4264968819322154,-1.3428349508589683]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.08155371072331219,-0.6385570860277383,0.71338606911949],"aabb_xy":[[-0.08650973090819339,-0.66105708622986],[-0.07659769053843099,-0.6160570858256168]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.22077394210899826,-0.33693979840696864,0.71338606911949],"aabb_xy":[[-0.23118550078948194,-0.3422855317428671],[-0.21036238342851452,-0.3315940650710701]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[-0.44567807752542005,0.5013205902175426,0.71338606911949],"aabb_xy":[[-0.48317807594882034,0.48815637624971187],[-0.40817807910201964,0.5144848041853731]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.5948647364335165,0.35958059879674176,0.71338606911949],"aabb_xy":[[-0.6548647372943291,0.3081541687902553],[-0.5348647355727035,0.4110070288032281]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.17747767770932843,1.7478593753968625,0.71338606911949],"aabb_xy":[[-0.19753608932256872,1.7277942884877049],[-0.15741926609608814,1.7679244623060197]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[0.6308137464583927,-0.0632134579424446,0.71338606911949],"aabb_xy":[[0.5411266701502772,-0.15321345819689514],[0.7205008227665081,0.026786542312005945]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[-0.4376937767882454,0.39585623768120604,0.71338606911949],"aabb_xy":[[-0.4721561241863871,0.3613623552833833],[-0.4032314293901035,0.4303501200790287]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.4240303750072212,-1.604369343649442,0.71338606911949],"aabb_xy":[[0.4177182754708827,-1.610136282902661],[0.43034247454355956,-1.5986024043962233]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[-0.03772844592017255,-1.6210799018971405,0.71338606911949],"aabb_xy":[[-0.08772155802936443,-1.6710799025713365],[0.012264666189019346,-1.5710799012229453]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[0.6046921525308,-0.9386974679588862,0.71338606911949],"aabb_xy":[[0.5496966747101406,-0.9936974693927929],[0.6596876303514594,-0.883697466524979]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[0.08567335831059564,-1.1937420849224116,0.71338606911949],"aabb_xy":[[0.06317422258436867,-1.2162420857006746],[0.10817249403682261,-1.1712420841441487]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.5907131598668691,-0.2616781899311502,0.71338606911949],"aabb_xy":[[0.5791441791199325,-0.286678190048082],[0.6022821406138057,-0.23667818981421856]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.02218431684270361,-2.462738789712163,0.71338606911949],"aabb_xy":[[-0.02281568462352524,-2.5077386465736438],[0.06718431830893247,-2.4177389328506824]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[0.26385815527684264,-1.6685639079800945,0.71338606911949],"aabb_xy":[[0.18385815500323568,-1.7415134558058107],[0.34385815555044963,-1.5956143601543773]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[0.6333589428951127,-1.8152325252434243,0.71338606911949],"aabb_xy":[[0.5633589464851507,-1.835670460895106],[0.7033589393050743,-1.7947945895917425]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[-0.2227206233076237,0.8817821609183367,0.71338606911949],"aabb_xy":[[-0.24523431513108093,0.8117821603173291],[-0.20020693148416654,0.9517821615193441]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[0.29947236213441075,0.9167934638414978,0.71338606911949],"aabb_xy":[[0.28430948915747367,0.9016280065463793],[0.31463523511134783,0.9319589211366168]]}],"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":0.6487840631685413,"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/6360.png","name":"6360"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6360.png","name":"6360"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8189.png","name":"8189"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6657.png","name":"6657"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5407.png","name":"5407"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5766.png","name":"5766"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":766.1310592036493,"rotation_z_degrees":314.09449419537077,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009852293696778803,-0.015476419230549331,-0.016360010492066413]},{"name":"camera_2","offset_m":[-0.008119497090174788,0.01839230893321792,-0.004684564403919839]},{"name":"camera_3","offset_m":[0.017370997173273655,-0.003518816637589458,0.01721484149210183]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00022486489507302998,0.001467814798415569,-0.0005071678725267819],"end_effector_yaw_offset_degrees":-0.8967670745324503},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00018135124941106098,-0.0013879644138850233,-0.000850303268156683],"end_effector_yaw_offset_degrees":0.9092168576565871},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014619462111506703,0.0014879842002636858,-0.00029312705639001507],"end_effector_yaw_offset_degrees":-0.05009243162038968}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029593887454016825,-0.00012661876409615462],"position_m":[0.22125938874540169,0.26707338123590385,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011860978769660338,-0.004236628013491054],"position_m":[0.21691390212303396,-0.35963662801349106,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029025694720709342,-0.002224305794133089],"position_m":[0.31960256947207094,-0.06142430579413309,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003057410769703135,-0.0012546807211948241],"position_m":[0.35344258923029687,0.16464531927880516,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0f31548eafc81720486aede83a932be861f69617ae7ed26c86c2d62fa817c479","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0046.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6360/tex_ceiling_textures_5766/tex_floor_textures_5407/tex_table_textures_8189/tex_wall_textures_6657","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3388576970942351358,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3388576970942351358,"visual_seed":3388576970942351358,"scene_id":"lab_003","finished_at":"2026-09-04T18:03:33"} +{"episode_id":"ep_000047","started_at":"2026-09-04T18:03:36","dimensions":{"distractor":{"count":31,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.4034347862331702,-2.218746118025569,0.71338606911949],"aabb_xy":[[0.39056288273223,-2.2987461184394054],[0.4163066897341103,-2.138746117611733]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[-0.5202446182277262,0.39955790313734996,0.71338606911949],"aabb_xy":[[-0.5248797333799594,0.3956905680602013],[-0.5156095030754927,0.4034252382144986]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[-0.6176231923106753,-1.40570450522692,0.71338606911949],"aabb_xy":[[-0.6551231921277088,-1.4103427165380615],[-0.5801231924936416,-1.4010662939157779]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.04709669493652335,-2.0853310246010834,0.71338606911949],"aabb_xy":[[0.002104108218072935,-2.130331023875532],[0.09208928165497376,-2.0403310253266347]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.6280173369548787,-1.8599945331792056,0.71338606911949],"aabb_xy":[[-0.6780173365312133,-1.9099751121313115],[-0.5780173373785439,-1.8100139542270997]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.3535782372710621,-2.284731484845579,0.71338606911949],"aabb_xy":[[-0.3576563951781118,-2.2888124650938426],[-0.34950007936401234,-2.2806505045973156]]},{"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_6","position":[-0.16792729009552576,-0.8700659498443524,0.71338606911949],"aabb_xy":[[-0.17402191798364408,-0.8786353443960211],[-0.16183266220740744,-0.8614965552926837]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.01874784759781578,-1.3353842412778056,0.71338606911949],"aabb_xy":[[-0.003160834541535266,-1.3572849080978964],[0.040656529737166824,-1.313483574457715]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.0578196540269007,0.6571151053425308,0.71338606911949],"aabb_xy":[[0.0028196544051548728,0.6021314125550582],[0.11281965364864656,0.7120987981300037]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.473519663694306,0.08420808652926315,0.71338606911949],"aabb_xy":[[0.4035196610577197,0.06410322153339763],[0.5435196663308923,0.10431295152512864]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.3826725786625878,-0.20161565683579452,0.71338606911949],"aabb_xy":[[-0.39934971465568325,-0.2183155808097248],[-0.36599544266949224,-0.18491573286186425]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[0.18345370541318506,-1.6347487221649,0.71338606911949],"aabb_xy":[[0.1754103454872299,-1.7197487232602662],[0.19149706533914024,-1.5497487210695333]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[0.08322494900762267,1.7325300200055156,0.71338606911949],"aabb_xy":[[0.04467925618242164,1.6939842489493269],[0.12177064183282371,1.7710757910617043]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[0.08643858531950499,-1.1195547589068868,0.71338606911949],"aabb_xy":[[0.053976884437577526,-1.1496875910217892],[0.11890028620143243,-1.089421926791984]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.5885017107611153,-1.6618708213179834,0.71338606911949],"aabb_xy":[[-0.5964952005563975,-1.6698689532584592],[-0.5805082209658334,-1.653872689377508]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[-0.2228771764928233,1.1789447909442683,0.71338606911949],"aabb_xy":[[-0.23550396378001964,1.1693987172426952],[-0.21025038920562694,1.188490864645841]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[0.6771774474188308,-1.5829384425673443,0.71338606911949],"aabb_xy":[[0.6625340418647977,-1.5975971622241285],[0.6918208529728637,-1.56827972291056]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.11900278300867839,1.140883828711507,0.71338606911949],"aabb_xy":[[-0.14684781978928552,1.1100993299731952],[-0.09115774622807127,1.1716683274498185]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.37672663089555436,1.4046877852528472,0.71338606911949],"aabb_xy":[[-0.3980046390390266,1.3396877829267742],[-0.3554486227520821,1.4696877875789203]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[-0.3794191246036384,-0.4616915703390805,0.71338606911949],"aabb_xy":[[-0.44441912463794114,-0.5083922470194078],[-0.3144191245693357,-0.41499089365875313]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[-0.656109427300877,-1.7491408958554309,0.71338606911949],"aabb_xy":[[-0.6736094275602136,-1.763232438044204],[-0.6386094270415403,-1.7350493536666587]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[-0.32588641886435826,-1.9891053532331135,0.71338606911949],"aabb_xy":[[-0.33084243904923955,-2.0116053534352356],[-0.3209303986794771,-1.9666053530309924]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[-0.16274971370957048,1.4788293158520776,0.71338606911949],"aabb_xy":[[-0.18280812532281077,1.4587642289429203],[-0.14269130209633019,1.4988944027612352]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[-0.30355037339347235,-2.4212090120846406,0.71338606911949],"aabb_xy":[[-0.3675503736674506,-2.4712751122819285],[-0.23955037311949412,-2.3711429118873526]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_24","position":[-0.5147045221420916,-0.14164954475477387,0.71338606911949],"aabb_xy":[[-0.5787045185694135,-0.18881916857687034],[-0.4507045257147697,-0.09447992093267746]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[-0.48733882610446666,-1.6644095802271246,0.71338606911949],"aabb_xy":[[-0.49858388167508444,-1.6756513779512199],[-0.47609377053384877,-1.6531677825030293]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_26","position":[0.04406898170111728,-2.4576599646243347,0.71338606911949],"aabb_xy":[[-0.005913968486362046,-2.5076599642668946],[0.09405193188859662,-2.407659964981774]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_27","position":[-0.368499123450221,-1.726207810483959,0.71338606911949],"aabb_xy":[[-0.43249912203679347,-1.7732147738834678],[-0.30449912486364855,-1.6792008470844504]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_28","position":[0.1333113504733725,1.0836769021019603,0.71338606911949],"aabb_xy":[[0.09831135216267706,1.0759618871784147],[0.16831134878406795,1.091391917025506]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_29","position":[-0.08385381759875332,-1.4806838329965737,0.71338606911949],"aabb_xy":[[-0.13384882855820537,-1.5306838320321656],[-0.033858806639301305,-1.430683833960982]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_30","position":[-0.2791451362557131,-0.6359739003437517,0.71338606911949],"aabb_xy":[[-0.2887767724761427,-0.6456112131234606],[-0.26951350003528346,-0.6263365875640428]]}],"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":0.6474609749310027,"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/7144.png","name":"7144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7144.png","name":"7144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3556.png","name":"3556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7254.png","name":"7254"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/623.png","name":"623"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1845.png","name":"1845"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":614.3600914558597,"rotation_z_degrees":202.4080461782118,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009331511721854088,0.012569844811289307,0.014646034248294745]},{"name":"camera_2","offset_m":[-0.0018520604404079662,-0.005227602013157284,-0.01625904867243155]},{"name":"camera_3","offset_m":[0.012821747418284717,-0.00464672148384802,-0.002889443093266629]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006491801621036713,0.0014225309375469086,0.0007362940999396275],"end_effector_yaw_offset_degrees":-0.3109043590857432},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00013695051396117423,-0.001743276267249066,-0.0013655376256408308],"end_effector_yaw_offset_degrees":0.956889528843559},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012500882046872124,-0.0009269102168052133,0.0010057257310219546],"end_effector_yaw_offset_degrees":-0.22919922420902394}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012277660999748608,-0.0019515746692543258],"position_m":[0.21952776609997485,0.26524842533074566,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001560103991702609,0.004609888098792129],"position_m":[0.21794398960082972,-0.35079011190120785,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00040714561630228116,-0.0005838400678098076],"position_m":[0.31710714561630227,-0.05978384006780981,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013678853736564544,0.0026690953511961215],"position_m":[0.35513211462634353,0.1685690953511961,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7d696d592cbdf5f0bec2fdb95a117b39fcf4c85c69c66648033837cc166eaf1f","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7144/tex_ceiling_textures_1845/tex_floor_textures_623/tex_table_textures_3556/tex_wall_textures_7254","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3137602769736502150,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3137602769736502150,"visual_seed":3137602769736502150,"scene_id":"lab_003","finished_at":"2026-09-04T18:06:35"} +{"episode_id":"ep_000048","started_at":"2026-09-04T18:06:39","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[0.05706135676680435,-1.5402275486675097,0.71338606911949],"aabb_xy":[[0.05147968513267558,-1.5527275484852852],[0.0626430284009331,-1.5277275488497342]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[-0.17262500018788307,-2.079006155499007,0.71338606911949],"aabb_xy":[[-0.17705562954272325,-2.0844545272336896],[-0.1681943708330429,-2.0735577837643246]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[0.4291463396897912,1.5181600143442604,0.71338606911949],"aabb_xy":[[0.3491463411024718,1.4388444124060995],[0.5091463382771106,1.5974756162824213]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[0.13739358066672114,1.8001768940787524,0.71338606911949],"aabb_xy":[[0.09989358084968758,1.7955386827676105],[0.1748935804837547,1.8048151053898942]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.3302558894471803,-1.5693792270173128,0.71338606911949],"aabb_xy":[[-0.3421886238090084,-1.5817613798251722],[-0.31832315508535225,-1.5569970742094534]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[-0.48934457368465945,-1.0075297450754452,0.71338606911949],"aabb_xy":[[-0.553344574062193,-1.0572750119262575],[-0.4253445733071258,-0.957784478224633]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.24824980386888662,-2.0503175851465394,0.71338606911949],"aabb_xy":[[0.21378745647074476,-2.084811467544361],[0.2827121512670283,-2.015823702748716]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[0.20851818628349816,-1.6804955282489593,0.71338606911949],"aabb_xy":[[0.19715645163021198,-1.6918639946552472],[0.2198799209367843,-1.669127061842671]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.4487952673853096,0.8458519919203007,0.71338606911949],"aabb_xy":[[-0.5287952643995576,0.8257174402468894],[-0.36879527037106163,0.865986543593712]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.36480752766371444,-1.7249912475407587,0.71338606911949],"aabb_xy":[[-0.42880752934171174,-1.773508639020073],[-0.30080752598571703,-1.6764738560614445]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.18622877725150622,-0.5761711091161104,0.71338606911949],"aabb_xy":[[-0.23620184278402173,-0.6261711089286434],[-0.13625571171899079,-0.5261711093035776]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[-0.41238541134371415,0.159777797042008,0.71338606911949],"aabb_xy":[[-0.43427515893265495,0.06977779975275887],[-0.39049566375477335,0.2497777943312571]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[-0.18922701299728828,0.5948441294203208,0.71338606911949],"aabb_xy":[[-0.213773228620039,0.5645952328712837],[-0.16468079737453756,0.6250930259693578]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[-0.06477669001250441,-1.4247725469109846,0.71338606911949],"aabb_xy":[[-0.11005530489365367,-1.4887725462591685],[-0.019498075131355153,-1.3607725475628012]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.056406428960452004,0.6140771954417112,0.71338606911949],"aabb_xy":[[-0.110422025242352,0.550077192549454],[-0.002390832678551995,0.6780771983339683]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[0.40925931022132356,-1.1411549172209479,0.71338606911949],"aabb_xy":[[0.402217859270576,-1.1481816689587423],[0.4163007611720712,-1.1341281654831534]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.19823959999553775,1.6600799409351343,0.71338606911949],"aabb_xy":[[-0.23948841102545246,1.6050799414229167],[-0.156990788965623,1.7150799404473516]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.5935817588429646,-2.097414738874418,0.71338606911949],"aabb_xy":[[0.5035817594245937,-2.1307902357186075],[0.6835817582613355,-2.064039242030228]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.6598350121692091,1.4046818448740406,0.71338606911949],"aabb_xy":[[0.6228009027411494,1.370304637540331],[0.6968691215972689,1.4390590522077498]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[-0.23909085689491805,1.7992504382485603,0.71338606911949],"aabb_xy":[[-0.26693589367552517,1.7684659395102489],[-0.2112458201143109,1.8300349369868723]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[0.3365903476237053,0.7770068335980502,0.71338606911949],"aabb_xy":[[0.27159034651776204,0.7520414605299219],[0.4015903487296486,0.8019722066661785]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[-0.08731432796678207,1.1026441150901918,0.71338606911949],"aabb_xy":[[-0.09815480619329695,1.085457833799543],[-0.07647384974026714,1.1198303963808405]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[-0.5840916543896479,1.1863329913567036,0.71338606911949],"aabb_xy":[[-0.5984260795158114,1.1742727758021645],[-0.5697572292634845,1.1983932069112422]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[-0.3173092557240514,0.35853310749092415,0.71338606911949],"aabb_xy":[[-0.3813092590137595,0.31519818848700654],[-0.25330925243434327,0.40186802649484177]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[-0.6744146049289558,-1.385667082662332,0.71338606911949],"aabb_xy":[[-0.6798725505659757,-1.465667085969991],[-0.6689566592919356,-1.3056670793546727]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_25","position":[0.5418708591067274,-2.4637740384325144,0.71338606911949],"aabb_xy":[[0.48187085746380565,-2.515774187724458],[0.6018708607496494,-2.41177388914057]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.06340844588843308,-1.3474709828407516,0.71338606911949],"aabb_xy":[[0.048245572911496004,-1.3626364401358706],[0.07857131886537017,-1.332305525545633]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[-0.6118373567894048,-0.3459818724591077,0.71338606911949],"aabb_xy":[[-0.640167066737945,-0.3504426146528248],[-0.5835076468408645,-0.34152113026539066]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_28","position":[0.47967010167126123,-0.10052942622377836,0.71338606911949],"aabb_xy":[[0.42967082650282507,-0.15052942749972553],[0.5296693768396974,-0.050529424947831206]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[0.2505443745396311,-1.4704768025048052,0.71338606911949],"aabb_xy":[[0.18554437353913056,-1.5212631676594803],[0.3155443755401316,-1.4196904373501305]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_30","position":[0.5861408126428209,-0.9416128784370417,0.71338606911949],"aabb_xy":[[0.5221408155307152,-0.9906452482314522],[0.6501408097549266,-0.8925805086426309]]}],"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":0.650736587386688,"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/9052.png","name":"9052"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9052.png","name":"9052"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8766.png","name":"8766"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4382.png","name":"4382"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8522.png","name":"8522"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4214.png","name":"4214"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":721.2590471700653,"rotation_z_degrees":50.78649749507115,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012191323067007303,-0.018652645988295802,0.01587929575038437]},{"name":"camera_2","offset_m":[0.01095203744558067,0.006083273904529372,0.012770310890751525]},{"name":"camera_3","offset_m":[0.017122048041980937,-0.012715854762878408,-0.009228339998021346]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00022814351515745108,0.0008011906049861283,-0.000306675119621874],"end_effector_yaw_offset_degrees":0.8024077508672205},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019963454314949835,-0.0019425076104349732,-0.0010732106027416368],"end_effector_yaw_offset_degrees":0.8415117206184479},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.308709528244242e-05,-0.0010082086785043979,-0.0017638758769435454],"end_effector_yaw_offset_degrees":0.2273777360710283}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00406702097277811,3.370533762817908e-05],"position_m":[0.2223670209727781,0.2672337053376282,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001240660221869062,0.004679877465340729],"position_m":[0.21685933977813093,-0.3507201225346593,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003923449832803045,0.0020680477654776005],"position_m":[0.3127765501671969,-0.0571319522345224,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030872864983826536,-0.0013462357349477315],"position_m":[0.3595872864983826,0.16455376426505225,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26a0f5e6e83484692ad812dec9c13b6f6ed39c34b76d5a77d9aa8491316f559a","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9052/tex_ceiling_textures_4214/tex_floor_textures_8522/tex_table_textures_8766/tex_wall_textures_4382","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6253124874924542048,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6253124874924542048,"visual_seed":6253124874924542048,"scene_id":"lab_003","finished_at":"2026-09-04T18:09:41"} +{"episode_id":"ep_000049","started_at":"2026-09-04T18:09:46","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.1630550086184125,-0.2864387680396523,0.71338606911949],"aabb_xy":[[-0.22705501183705037,-0.3331618799386607],[-0.09905500539977466,-0.239715656140644]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.2535342255601867,-2.45180801947373,0.71338606911949],"aabb_xy":[[0.23103422555003839,-2.465904239113333],[0.27603422557033497,-2.4377117998341262]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[0.17420811166047123,0.930409536418539,0.71338606911949],"aabb_xy":[[0.15641460472555482,0.9126097908227414],[0.1920016185953877,0.9482092820143367]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.11979455486207002,1.0471452113686106,0.71338606911949],"aabb_xy":[[0.05579455458809178,0.9970791111713226],[0.18379455513604825,1.0972113115658986]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[-0.6290112379334225,-0.1295835630457769,0.71338606911949],"aabb_xy":[[-0.6514760079048275,-0.1520835639246374],[-0.6065464679620173,-0.10708356216691639]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[-0.3817362309659184,0.22709012762508118,0.71338606911949],"aabb_xy":[[-0.4367362301425079,0.17210045285012354],[-0.3267362317893289,0.2820798024000388]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.6185658540171778,-1.4800229589466958,0.71338606911949],"aabb_xy":[[-0.6232009691694109,-1.4838902940238443],[-0.6139307388649442,-1.4761556238695468]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.04447194045376124,0.7308571353018478,0.71338606911949],"aabb_xy":[[0.014073829354617649,0.7004502333001782],[0.07487005155290481,0.7612640373035172]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[0.6486333307085965,-1.3250685972838614,0.71338606911949],"aabb_xy":[[0.6111333321329756,-1.3378048929474193],[0.6861333292842172,-1.3123323016203035]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[0.6588978728023454,1.684966893214376,0.71338606911949],"aabb_xy":[[0.6089030398744038,1.634966894319133],[0.708892705730287,1.73496689210962]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[-0.5776953209833338,-1.092664036456516,0.71338606911949],"aabb_xy":[[-0.6022415366060845,-1.122912933005553],[-0.553149105360583,-1.0624151399074788]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[0.07831184197401897,-2.053077644704822,0.71338606911949],"aabb_xy":[[0.03554513509459879,-2.1170776481266245],[0.12107854885343917,-1.9890776412830196]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.6561384228767719,-0.711405620434264,0.71338606911949],"aabb_xy":[[0.601164700840439,-0.7664056199984971],[0.7111121449131048,-0.6564056208700307]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[0.08925238914056288,-1.4178000928793582,0.71338606911949],"aabb_xy":[[0.05810547029697975,-1.4878000915661653],[0.12039930798414598,-1.347800094192551]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.10818794211732052,-1.3602364721248408,0.71338606911949],"aabb_xy":[[-0.18818794537516348,-1.4402329799168245],[-0.028187938859477582,-1.2802399643328566]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[-0.17313868684586775,1.5327427241529699,0.71338606911949],"aabb_xy":[[-0.1964205290439991,1.4477427228557418],[-0.1498568446477364,1.617742725450198]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[-0.11067514227862485,-1.7155690767696754,0.71338606911949],"aabb_xy":[[-0.14513762029171262,-1.722232753952598],[-0.07621266426553706,-1.7089053995867525]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[0.19116050701378307,-1.7879232623723946,0.71338606911949],"aabb_xy":[[0.18582799235917008,-1.7932475906176304],[0.19649302166839605,-1.7825989341271593]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.35668661298193505,0.6508992462040126,0.71338606911949],"aabb_xy":[[0.34869262440423165,0.6428991661089223],[0.36468060155963844,0.658899326299103]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.5858766375254059,-0.8669397614232424,0.71338606911949],"aabb_xy":[[0.5682010069368074,-0.8846199777026451],[0.6035522681140041,-0.8492595451438396]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[-0.6492841006182861,1.1627451679803156,0.71338606911949],"aabb_xy":[[-0.6742840997839193,1.155792922274959],[-0.6242841014526531,1.1696974136856721]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[0.3747104836108215,1.4669276935710394,0.71338606911949],"aabb_xy":[[0.3686734706101567,1.4609009925020915],[0.3807474966114862,1.4729543946399877]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_22","position":[0.14606693435775264,-0.5924515354534128,0.71338606911949],"aabb_xy":[[0.07606693254900718,-0.6138053042176],[0.21606693616649805,-0.5710977666892253]]}],"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":0.6490275452069156,"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/4761.png","name":"4761"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4761.png","name":"4761"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2822.png","name":"2822"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7988.png","name":"7988"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3730.png","name":"3730"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7349.png","name":"7349"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":814.0890866847263,"rotation_z_degrees":201.42603972826728,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0008656106171126138,-0.014664976559274328,0.0004942095069068002]},{"name":"camera_2","offset_m":[0.007159980759090266,0.01396751620508262,-0.00633666458863996]},{"name":"camera_3","offset_m":[0.017268461421743427,-0.014404769718156643,-0.019067216458607487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013332236334029734,0.0008485354862135105,-0.0012380902987123338],"end_effector_yaw_offset_degrees":0.4389611062388945},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014828680784109882,0.0006881841150696089,-0.0015834992392455658],"end_effector_yaw_offset_degrees":-0.10063126150630386},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00046190534319535156,0.001652042461745623,-0.0015856287577308242],"end_effector_yaw_offset_degrees":0.482586679498614}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0039668194768974025,6.215599318773555e-05],"position_m":[0.2222668194768974,0.26726215599318776,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004643978612816359,0.004224246121942893],"position_m":[0.22274397861281633,-0.3511757538780571,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004681353585114556,0.0009464719551910087],"position_m":[0.3120186464148854,-0.058253528044808996,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027254479479335647,-0.0006076064832236227],"position_m":[0.3537745520520664,0.16529239351677638,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"adacbbb8b4092517811c82ba936d14235793ae4873405f27bd6c289fc7fbe869","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0049.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4761/tex_ceiling_textures_7349/tex_floor_textures_3730/tex_table_textures_2822/tex_wall_textures_7988","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5478147596259959079,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5478147596259959079,"visual_seed":5478147596259959079,"scene_id":"lab_003","finished_at":"2026-09-04T18:12:34"} +{"episode_id":"ep_000050","started_at":"2026-09-04T18:12:38","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[0.6400482738732249,-0.6116834727918559,0.71338606911949],"aabb_xy":[[0.5700482722709456,-0.6251162659935133],[0.7100482754755045,-0.5982506795901982]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.6690031744718068,-1.4475088381783383,0.71338606911949],"aabb_xy":[[0.6580973983842441,-1.5275088345771672],[0.6799089505593695,-1.367508841779509]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[0.46094608555627303,-1.353413919663257,0.71338606911949],"aabb_xy":[[0.4157747677081042,-1.4174139168077955],[0.5061174034044421,-1.2894139225187187]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.30145177559397973,0.19310178617049534,0.71338606911949],"aabb_xy":[[-0.33645177548999855,0.1847275506585554],[-0.2664517756979608,0.20147602168243528]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.3531212767223122,-1.256624112837282,0.71338606911949],"aabb_xy":[[0.3457088211809237,-1.2624753232589099],[0.36053373226370067,-1.250772902415654]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.3142963382753021,-1.3134275931494432,0.71338606911949],"aabb_xy":[[0.27679633748330673,-1.3197954341076334],[0.3517963390672976,-1.307059752191253]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.5889478270529107,-2.408013429750866,0.71338606911949],"aabb_xy":[[0.584048534746347,-2.4356903490534343],[0.593847119359474,-2.3803365104482967]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.3202939276222807,1.0580912395630646,0.71338606911949],"aabb_xy":[[0.2651687219926899,0.9980912381217774],[0.3754191332518715,1.1180912410043515]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[-0.3970606051656612,1.0061576308020035,0.71338606911949],"aabb_xy":[[-0.43409471459372084,0.9717804234682941],[-0.36002649573760137,1.040534838135713]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.5461646267393643,-2.25353486711739,0.71338606911949],"aabb_xy":[[-0.6361646261577352,-2.2869103639615798],[-0.4561646273209934,-2.2201593702732003]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[-0.15980414744205806,-0.9032520194942435,0.71338606911949],"aabb_xy":[[-0.2498041439429298,-0.9491636619127016],[-0.06980415094118629,-0.8573403770757851]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.201382674337159,0.10432171875827789,0.71338606911949],"aabb_xy":[[-0.21888267347152615,0.09444209172069006],[-0.1838826752027918,0.1142013457958657]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.5717481404006188,-2.565376118653001,0.71338606911949],"aabb_xy":[[0.5652465038926142,-2.575143940679311],[0.5782497769086234,-2.5556082966266915]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[0.4567585356508834,0.9008863817493808,0.71338606911949],"aabb_xy":[[0.40675853621068775,0.8509184572650644],[0.506758535091079,0.950854306233697]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.578929450415246,0.9219692897992973,0.71338606911949],"aabb_xy":[[-0.5871439955309298,0.9132926995016557],[-0.5707149052995618,0.9306458800969384]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.3098299641833473,1.3201444565971507,0.71338606911949],"aabb_xy":[[0.3025861981371019,1.2401444583935481],[0.31707373022959257,1.400144454800753]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.0763872699274798,-2.151838987388488,0.71338606911949],"aabb_xy":[[-0.09888726993762809,-2.1659352070280913],[-0.053887269917331504,-2.1377427677488847]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[-0.00031699544992191964,-1.4285324010695513,0.71338606911949],"aabb_xy":[[-0.08031699652304225,-1.4383104474069357],[0.07968300562319841,-1.4187543547321668]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.17642643049849482,-0.07210287951621908,0.71338606911949],"aabb_xy":[[-0.18455411869180802,-0.08101648792692673],[-0.16829874230518158,-0.06318927110551142]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.0740111070233399,1.502234003532258,0.71338606911949],"aabb_xy":[[-0.1240111056692611,1.4523144598727957],[-0.02401110837741871,1.5521535471917205]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.2531021015352639,0.8991750240398009,0.71338606911949],"aabb_xy":[[-0.3030969344632055,0.8491750251445573],[-0.2031072686073223,0.9491750229350444]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[0.0825365233880202,-1.6259338629179632,0.71338606911949],"aabb_xy":[[0.06495822119907337,-1.6435083524920682],[0.10011482557696706,-1.6083593733438581]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[-0.19074604788513538,1.2152847653737537,0.71338606911949],"aabb_xy":[[-0.28074604760830946,1.192211412838574],[-0.10074604816196116,1.2383581179089336]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_23","position":[0.44521229645693183,1.2186892092777342,0.71338606911949],"aabb_xy":[[0.4308778713307684,1.2066289937231953],[0.4595467215830953,1.230749424832273]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[0.34757527261814913,-1.7303569166302561,0.71338606911949],"aabb_xy":[[0.32869088884963893,-1.749242841410609],[0.36645965638665934,-1.7114709918499034]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[0.5888946516562661,-1.6727718275127095,0.71338606911949],"aabb_xy":[[0.5388946512956999,-1.7227518147223124],[0.638894652016832,-1.6227918403031065]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[-0.09431547066230817,0.4347440319842599,0.71338606911949],"aabb_xy":[[-0.14429288752756173,0.38474403049501144],[-0.04433805379705457,0.48474403347350853]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_27","position":[0.3496581972619166,-2.208102598728357,0.71338606911949],"aabb_xy":[[0.34002656104148693,-2.217739911508066],[0.35928983348234617,-2.198465285948648]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[-0.009523542305948207,0.9407550947297212,0.71338606911949],"aabb_xy":[[-0.05952354358978817,0.8907762403390989],[0.040476458977891754,0.9907339491203431]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_29","position":[0.4393415602692379,0.7462140719089074,0.71338606911949],"aabb_xy":[[0.349341561674768,0.7299634855954866],[0.5293415588637078,0.7624646582223287]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_30","position":[0.4487262643724421,1.7434728428817698,0.71338606911949],"aabb_xy":[[0.38372626173464863,1.6919932441823227],[0.5137262670102356,1.7949524415812166]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_31","position":[0.04296532562579081,1.7346138714470745,0.71338606911949],"aabb_xy":[[0.027080832360465656,1.7202609311482506],[0.05884981889111596,1.7489668117458987]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_32","position":[0.262605339855558,-1.5463605234380569,0.71338606911949],"aabb_xy":[[0.24497250426203046,-1.5639834694536796],[0.2802381754490856,-1.5287375774224337]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_33","position":[0.5747442223194079,-0.3442906583364822,0.71338606911949],"aabb_xy":[[0.5528355401800569,-0.3661913251565729],[0.596652904458759,-0.3223899915163914]]}],"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":0.6482039245989918,"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/1592.png","name":"1592"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1592.png","name":"1592"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5111.png","name":"5111"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2410.png","name":"2410"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7776.png","name":"7776"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/865.png","name":"865"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":550.012004777558,"rotation_z_degrees":313.51209105207414,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0003234866364946361,0.009076719187785461,0.013489385623350694]},{"name":"camera_2","offset_m":[-0.019040683185591704,-0.004470854880276032,-0.010907977268499312]},{"name":"camera_3","offset_m":[0.013786348528053025,0.014923515401550572,-0.010679674059623001]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001255093103098685,0.0010667574204604974,-0.0013931524625380792],"end_effector_yaw_offset_degrees":-0.4132933557138745},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005697205461719233,-0.0013370934328151818,0.0002773177378947306],"end_effector_yaw_offset_degrees":-0.47029738563224877},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011779544009584654,0.0009285570241742242,0.0009358080256621844],"end_effector_yaw_offset_degrees":0.6743277588069532}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004645347501088652,0.0007245000960566794],"position_m":[0.21365465249891133,0.2679245000960567,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000581900605833686,-0.0005124077286723875],"position_m":[0.21868190060583367,-0.3559124077286724,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003896567888873651,-0.0013623197988918878],"position_m":[0.32059656788887364,-0.060562319798891893,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002333385309900824,-0.0017744105301536095],"position_m":[0.35416661469009914,0.16412558946984637,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d374c2e8818338f1ef767ab03d8c47ccc06e957577747562d19ab6ded515b609","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1592/tex_ceiling_textures_865/tex_floor_textures_7776/tex_table_textures_5111/tex_wall_textures_2410","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":4228873613028410078,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":4228873613028410078,"visual_seed":4228873613028410078,"scene_id":"lab_003","finished_at":"2026-09-04T18:15:42"} +{"episode_id":"ep_000051","started_at":"2026-09-04T18:15:46","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.4470179749036809,-0.3465488345037788,0.71338606911949],"aabb_xy":[[0.3970179736198408,-0.3965276888944009],[0.49701797618752075,-0.29656998011315666]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[0.08550630285335659,-2.0915227584290714,0.71338606911949],"aabb_xy":[[0.04800630290959017,-2.099815848463908],[0.12300630279712298,-2.083229668394235]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[0.4514811181563301,1.5013336711662482,0.71338606911949],"aabb_xy":[[0.40150230964601413,1.4513336711605294],[0.501459926666646,1.551333671171967]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[-0.3993697828853193,1.7705317428680716,0.71338606911949],"aabb_xy":[[-0.4218697824090267,1.7480357954174506],[-0.37686978336161187,1.7930276903186921]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.6323893742190625,-1.8269423982362127,0.71338606911949],"aabb_xy":[[0.6078757501220566,-1.8512069915382492],[0.6569029983160684,-1.8026778049341763]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[-0.3217177318755262,-0.7974698028093934,0.71338606911949],"aabb_xy":[[-0.3718151958565998,-0.8614698033192052],[-0.27162026789445254,-0.7334698022995816]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[0.24306002382114278,1.2943369748299403,0.71338606911949],"aabb_xy":[[0.1930826069558892,1.2443369733406915],[0.29303744068639637,1.3443369763191886]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.17195292233244153,-0.1774476418586497,0.71338606911949],"aabb_xy":[[-0.22194793329189358,-0.22744764089424147],[-0.1219579113729895,-0.127447642823058]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[-0.2975848845115434,0.41890247383354406,0.71338606911949],"aabb_xy":[[-0.33258488440756223,0.41052823832160407],[-0.2625848846155245,0.42727670934548395]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.6537704893652267,1.0614263523543146,0.71338606911949],"aabb_xy":[[0.6488144691803456,1.038926352152193],[0.6587265095501079,1.0839263525564362]]},{"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_10","position":[0.5596666672454507,0.7262300990025468,0.71338606911949],"aabb_xy":[[0.47466666882802744,0.6413558035402619],[0.6446666656628739,0.8111043944648318]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.03520195176834584,-1.504831418498181,0.71338606911949],"aabb_xy":[[-0.04713468613017391,-1.5172135713060406],[-0.023269217406517773,-1.4924492656903219]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.6257751444142914,0.5433978292615058,0.71338606911949],"aabb_xy":[[-0.6807751440360372,0.4884141364740331],[-0.5707751447925455,0.5983815220489785]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.5646987599709393,-0.26735394464648676,0.71338606911949],"aabb_xy":[[-0.5866074421102903,-0.2892546114665775],[-0.5427900778315882,-0.24545327782639603]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.3790111018510871,1.3936922665919145,0.71338606911949],"aabb_xy":[[-0.4490111044876734,1.3735874015960488],[-0.3090110992145007,1.4137971315877798]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.6437670504223796,1.3817529853196393,0.71338606911949],"aabb_xy":[[0.5937677752539434,1.331752984043692],[0.6937663255908157,1.4317529865955863]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[-0.21110597569789752,1.7821190268398666,0.71338606911949],"aabb_xy":[[-0.23099701557823776,1.76946321555517],[-0.19121493581755727,1.7947748381245636]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[0.020412660765215418,-0.7211285112670818,0.71338606911949],"aabb_xy":[[-0.015216495134744327,-0.7567611780239346],[0.05604181666517516,-0.6854958445102287]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[0.5330360763147044,-1.3822589776864274,0.71338606911949],"aabb_xy":[[0.49085166215387377,-1.4462589779636388],[0.5752204904755353,-1.3182589774092164]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.5666985151388508,-0.9536189047081205,0.71338606911949],"aabb_xy":[[-0.5737388250723879,-1.0336189041077921],[-0.559658205205314,-0.8736189053084493]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[0.11715118087977672,-1.0975082964156104,0.71338606911949],"aabb_xy":[[0.10370465424573337,-1.1109781480687015],[0.13059770751382005,-1.0840384447625193]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[0.3138892491324061,-2.463888046015121,0.71338606911949],"aabb_xy":[[0.2688892476661773,-2.508887902876602],[0.35888925059863497,-2.4188881891536407]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[0.22104528026085601,1.061204220467062,0.71338606911949],"aabb_xy":[[0.17106104455267876,1.0112042216535662],[0.27102951596903324,1.1112042192805573]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[-0.033164650418218145,-2.0173817571833723,0.71338606911949],"aabb_xy":[[-0.05227695777619701,-2.0365165360606143],[-0.01405234306023928,-1.9982469783061303]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[-0.668833054834497,-0.22800744166478992,0.71338606911949],"aabb_xy":[[-0.6858431521245475,-0.24414193016306385],[-0.6518229575444462,-0.211872953166516]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[-0.17821207313849985,-1.1659280300115147,0.71338606911949],"aabb_xy":[[-0.18354964880450442,-1.1909280309406545],[-0.17287449747249528,-1.140928029082375]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[0.4731460564433765,-0.5090009575762746,0.71338606911949],"aabb_xy":[[0.4231460550824893,-0.5589788621516901],[0.5231460578042637,-0.45902305300085894]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[-0.2274705383928668,-1.0039450437608055,0.71338606911949],"aabb_xy":[[-0.2914705404425988,-1.0440395268501137],[-0.1634705363431348,-0.9638505606714978]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[0.5484185714961869,-0.07407052845702822,0.71338606911949],"aabb_xy":[[0.5428368998620581,-0.08657052827480372],[0.5540002431303157,-0.061570528639252727]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_29","position":[-0.33918261968461255,0.7543517513855482,0.71338606911949],"aabb_xy":[[-0.3566826188189796,0.7444721243479604],[-0.32168262055024527,0.764231378423136]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_30","position":[-0.028612990458958154,-0.9216397060862789,0.71338606911949],"aabb_xy":[[-0.033512282765521643,-0.9493166253888476],[-0.02371369815239465,-0.8939627867837101]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_31","position":[0.4207864717667922,-1.9851794639970044,0.71338606911949],"aabb_xy":[[0.39827277994333493,-2.0551794645980115],[0.4433001635902493,-1.9151794633959967]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_32","position":[-0.4895574622612635,1.235269708122114,0.71338606911949],"aabb_xy":[[-0.49767111693464067,1.227163891668085],[-0.48144380758788646,1.243375524576143]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_33","position":[-0.16366467604460488,0.3822910947258862,0.71338606911949],"aabb_xy":[[-0.2064313829240251,0.31829109130408373],[-0.12089796916518472,0.44629109814768864]]}],"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":0.6523412876952538,"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/5972.png","name":"5972"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5972.png","name":"5972"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6219.png","name":"6219"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5167.png","name":"5167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6933.png","name":"6933"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8654.png","name":"8654"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":501.391886308626,"rotation_z_degrees":181.19985655562328,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015269579946476566,-0.001930161885882263,-0.00781817173661926]},{"name":"camera_2","offset_m":[-0.016432613920384278,-0.005333857692431873,0.019713548692386073]},{"name":"camera_3","offset_m":[-0.007806644465336143,-0.0012580950833705057,0.009453732341155225]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00014142718728557156,-0.000620148308563841,-0.00040381001417486256],"end_effector_yaw_offset_degrees":0.2871444050744434},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019992545374037133,0.0010290050688502744,-0.000455727103909826],"end_effector_yaw_offset_degrees":-0.11984551866539883},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015859899203192421,-0.0011723782843792098,-0.0014814149932406086],"end_effector_yaw_offset_degrees":0.74678477769648}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013042296525908933,-0.004248135397408159],"position_m":[0.21960422965259088,0.26295186460259184,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003031863221477478,0.0013989545864345077],"position_m":[0.21506813677852252,-0.3540010454135655,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024567562090182494,0.004146420016899682],"position_m":[0.31424324379098173,-0.05505357998310032,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032519538648209554,0.004281135036558332],"position_m":[0.35975195386482095,0.17018113503655832,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ab3dcd55421656a9b045dfa4a677d432d9d9259d0a1e48f71e034ea3393d0fc5","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0051.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5972/tex_ceiling_textures_8654/tex_floor_textures_6933/tex_table_textures_6219/tex_wall_textures_5167","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":370719070977554493,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":370719070977554493,"visual_seed":370719070977554493,"scene_id":"lab_003","finished_at":"2026-09-04T18:18:23"} +{"episode_id":"ep_000052","started_at":"2026-09-04T18:18:26","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.41042421630635695,0.7272585485869372,0.71338606911949],"aabb_xy":[[0.3858780006836062,0.6970096520379001],[0.43497043192910767,0.7575074451359742]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[-0.5474381226176331,-0.281410002081377,0.71338606911949],"aabb_xy":[[-0.5626102918992665,-0.2965788590095804],[-0.5322659533359998,-0.2662411451531737]]},{"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_2","position":[0.006294223482948613,-0.7939440012959964,0.71338606911949],"aabb_xy":[[0.000199595594830293,-0.8025133958476651],[0.012388851371066933,-0.7853746067443277]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.4944088600466273,0.12027594694564359,0.71338606911949],"aabb_xy":[[-0.5395801778947963,0.05627594980110519],[-0.44923754219845835,0.18427594409018203]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.3034822917064306,1.1315128045485903,0.71338606911949],"aabb_xy":[[0.22348229143282364,1.0585632567228735],[0.3834822919800376,1.204462352374307]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[-0.10404572644818055,-2.504173463668587,0.71338606911949],"aabb_xy":[[-0.13401328335800622,-2.5341734639664724],[-0.07407816953835489,-2.4741734633707013]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.5561720884821004,-0.9285628272448716,0.71338606911949],"aabb_xy":[[0.5348940803386281,-0.9935628295709446],[0.5774500966255726,-0.8635628249187984]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.6449172519032931,-2.012625571081311,0.71338606911949],"aabb_xy":[[0.6145191408041493,-2.04303247308298],[0.6753153630024364,-1.9822186690796413]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[0.3890155010351102,0.535435631964372,0.71338606911949],"aabb_xy":[[0.33402325039959924,0.4804356302210593],[0.4440077516706212,0.5904356337076848]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[-0.12436465908356542,0.8440424548439327,0.71338606911949],"aabb_xy":[[-0.14764650128169676,0.7590424535467045],[-0.10108281688543408,0.9290424561411607]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[0.07401156243177753,-0.6731236880491789,0.71338606911949],"aabb_xy":[[0.05690948447340939,-0.6902304935804486],[0.0911136403901457,-0.6560168825179091]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[0.4410440276494161,-2.05107418265021,0.71338606911949],"aabb_xy":[[0.4340025766986685,-2.058100934388004],[0.4480854786001637,-2.044047430912415]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[-0.1904993328006962,-1.876085198227604,0.71338606911949],"aabb_xy":[[-0.22799933359269164,-1.882453039185794],[-0.15299933200870075,-1.8697173572694137]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.5655944330498601,-0.5243661785084077,0.71338606911949],"aabb_xy":[[0.5420093095859652,-0.5893661807538396],[0.5891795565137549,-0.45936617626297604]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[0.5620744187301754,-1.8159366142355031,0.71338606911949],"aabb_xy":[[0.5370744187976575,-1.8228192824564264],[0.5870744186626933,-1.8090539460145798]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[0.03700237961463504,-1.3799591312497055,0.71338606911949],"aabb_xy":[[-0.026997623675073062,-1.423294050253623],[0.10100238290434316,-1.3366242122457879]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.42819200848480904,1.1559105058490724,0.71338606911949],"aabb_xy":[[-0.4390324867113239,1.1387242245584235],[-0.4173515302582941,1.1730967871397209]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[0.40963274365647306,-2.387912213964794,0.71338606911949],"aabb_xy":[[0.34563274436230484,-2.451898354333648],[0.4736327429506413,-2.3239260735959397]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.3606852678907875,1.4822761976603345,0.71338606911949],"aabb_xy":[[0.3489170810961299,1.3972761977551127],[0.37245345468544494,1.567276197565556]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[-0.273771164522414,-1.2356698029128312,0.71338606911949],"aabb_xy":[[-0.30210087447095424,-1.2401305451065483],[-0.24544145457387379,-1.2312090607191142]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[-0.44227529723885695,-1.3750988527991168,0.71338606911949],"aabb_xy":[[-0.5319623735469724,-1.4650988530535674],[-0.3525882209307415,-1.2850988525446663]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[-0.4535816296143708,-1.1143506700808905,0.71338606911949],"aabb_xy":[[-0.5085771074350303,-1.1693506715147974],[-0.3985861517937114,-1.0593506686469836]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[0.6849626032272638,0.5251855872405335,0.71338606911949],"aabb_xy":[[0.6506656922095231,0.49088870103059207],[0.7192595142450042,0.5594824734504747]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[0.5414845406827833,-2.1135353038551363,0.71338606911949],"aabb_xy":[[0.5164845411310448,-2.123677787720271],[0.5664845402345218,-2.1033928199900016]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_24","position":[0.5153240783071285,-0.6865457938125736,0.71338606911949],"aabb_xy":[[0.507330089729425,-0.694545873907664],[0.5233180668848317,-0.6785457137174833]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.19006811978064553,0.6501666258053524,0.71338606911949],"aabb_xy":[[0.18128689263340936,0.6413868785168224],[0.19884934692788184,0.6589463730938827]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_26","position":[-0.24087706588973906,-2.362316407146701,0.71338606911949],"aabb_xy":[[-0.30487706228531214,-2.4262796955654347],[-0.17687706949416598,-2.2983531187279675]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[0.588676897609477,0.6394612942960074,0.71338606911949],"aabb_xy":[[0.5782653389289932,0.6341155609601088],[0.5990884562899607,0.6448070276319058]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[-0.4800316382959794,-0.6032737362281211,0.71338606911949],"aabb_xy":[[-0.48707194822951644,-0.6832737356277925],[-0.47299132836244245,-0.5232737368284497]]}],"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":0.6484386659728362,"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/1786.png","name":"1786"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1786.png","name":"1786"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9688.png","name":"9688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3908.png","name":"3908"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4525.png","name":"4525"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/788.png","name":"788"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":670.5353009653011,"rotation_z_degrees":202.37425478744467,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005454438342467536,0.004292659657428168,-0.005149717875674144]},{"name":"camera_2","offset_m":[0.016746208947074705,-0.00402288823985586,-0.006719603975308561]},{"name":"camera_3","offset_m":[-0.007755305696540326,0.01946342120863229,0.008197031574044986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00038683674195385187,0.00043549432110046027,-0.0019392284490229034],"end_effector_yaw_offset_degrees":-0.9299626008588131},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012186357618767158,0.00162550861718264,0.0002567352717499586],"end_effector_yaw_offset_degrees":0.33015840585548695},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004196075645165843,0.0012614140772262096,-0.0016201761539895478],"end_effector_yaw_offset_degrees":-0.9228782577774328}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000818497462416439,-0.0006389251918444529],"position_m":[0.21748150253758355,0.26656107480815555,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004240545995271827,0.0016300167772891174],"position_m":[0.21385945400472817,-0.35376998322271086,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004690792354795084,-0.004056542449525376],"position_m":[0.3120092076452049,-0.06325654244952537,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008810053325101564,0.0046097170707388],"position_m":[0.3556189946674898,0.17050971707073878,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c4b97563bb123f85936f72ea068a992a5f2c017b7fc57f299ffcfe7000ecf953","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1786/tex_ceiling_textures_788/tex_floor_textures_4525/tex_table_textures_9688/tex_wall_textures_3908","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7389652240752183604,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7389652240752183604,"visual_seed":7389652240752183604,"scene_id":"lab_003","finished_at":"2026-09-04T18:20:59"} +{"episode_id":"ep_000053","started_at":"2026-09-04T18:21:02","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.5036822734105718,0.31453786209449586,0.71338606911949],"aabb_xy":[[-0.5265979862956217,0.29163356495807236],[-0.4807665605255219,0.33744215923091936]]},{"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_1","position":[0.17854167234351137,-1.7451003620810783,0.71338606911949],"aabb_xy":[[0.16067256458905588,-1.7589332700582891],[0.19641078009796686,-1.731267454103867]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[-0.12362527351340657,-1.099516116375476,0.71338606911949],"aabb_xy":[[-0.14721039697730143,-1.164516118620908],[-0.10004015004951172,-1.0345161141300445]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.27424955371020077,1.5688043577244275,0.71338606911949],"aabb_xy":[[0.239249553733705,1.5593397416768109],[0.30924955368669665,1.5782689737720441]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[-0.6550053590725353,1.293956574186304,0.71338606911949],"aabb_xy":[[-0.6598489538337654,1.28910492170732],[-0.6501617643113055,1.2988082266652883]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[-0.15538223601811474,-2.575330077903437,0.71338606911949],"aabb_xy":[[-0.15929610921353726,-2.5840790933099944],[-0.15146836282269222,-2.566581062496881]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.006629536034815531,-1.7378556835355492,0.71338606911949],"aabb_xy":[[-0.07062953932452364,-1.7811906025394666],[0.05737046725489258,-1.6945207645316314]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[-0.32168105635768834,-1.462627818027354,0.71338606911949],"aabb_xy":[[-0.339886880018936,-1.4736532186093456],[-0.30347523269644067,-1.4516024174453623]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.23858579577840444,0.6176577408076218,0.71338606911949],"aabb_xy":[[0.23488253444926552,0.6139557224989038],[0.24228905710754325,0.6213597591163396]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.3568049907443914,-0.7304490355640079,0.71338606911949],"aabb_xy":[[-0.420800688139488,-0.7944490338647165],[-0.29280929334929484,-0.6664490372632992]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.5731813805427575,1.393210358791217,0.71338606911949],"aabb_xy":[[-0.6631813799611282,1.359834861947027],[-0.48318138112438647,1.4265858556354065]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[0.6553397913226757,-0.15167301108834197,0.71338606911949],"aabb_xy":[[0.6472964313967204,-0.2366730121837084],[0.6633831512486308,-0.06667300999297554]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[0.18044704009529022,1.348387908936039,0.71338606911949],"aabb_xy":[[0.1164470378748832,1.3040148248107508],[0.24444704231569725,1.3927609930613274]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[0.6160591932665942,1.2874207629248455,0.71338606911949],"aabb_xy":[[0.5560591926705779,1.2326082903796223],[0.6760591938626103,1.3422332354700692]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.46707062114687936,-1.6869673731077293,0.71338606911949],"aabb_xy":[[-0.48956704258074346,-1.7094673729144765],[-0.44457419971301526,-1.6644673733009816]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[0.28284991761062706,-1.6310310467587856,0.71338606911949],"aabb_xy":[[0.27413594856069246,-1.6535310474179736],[0.29156388666056143,-1.6085310460995972]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.5490553335351624,0.6549581858412101,0.71338606911949],"aabb_xy":[[0.5265561978089354,0.6324581850629472],[0.5715544692613893,0.6774581866194731]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[-0.581759072297878,-1.2477468935274003,0.71338606911949],"aabb_xy":[[-0.589462262971955,-1.2554562642261382],[-0.5740558816238011,-1.240037522828662]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[-0.4643016515306155,0.16290353505674204,0.71338606911949],"aabb_xy":[[-0.47026819047135127,0.156942390397378],[-0.4583351125898797,0.16886467971610608]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[0.0848037199222822,-1.6030615244397102,0.71338606911949],"aabb_xy":[[0.05695868314167507,-1.6338460231780216],[0.11264875670288932,-1.5722770257013983]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.0011148997097062407,1.5614356300635008,0.71338606911949],"aabb_xy":[[-0.04236371073962097,1.5064356305512832],[0.040133911320208486,1.616435629575718]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.4416152384089891,-1.6909739492856741,0.71338606911949],"aabb_xy":[[0.3616152410053956,-1.770966520483857],[0.5216152358125824,-1.6109813780874913]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.09869003188774561,1.1915344918122472,0.71338606911949],"aabb_xy":[[0.08827847320726188,1.1861887584763486],[0.10910159056822931,1.1968802251481454]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[-0.30092680863057064,0.16500491084275737,0.71338606911949],"aabb_xy":[[-0.30796825958131824,0.15797815910496282],[-0.29388535767982304,0.17203166258055191]]}],"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":0.6523956856150326,"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/6137.png","name":"6137"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6137.png","name":"6137"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6533.png","name":"6533"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2986.png","name":"2986"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9465.png","name":"9465"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9876.png","name":"9876"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":778.9046149038356,"rotation_z_degrees":254.0859648819223,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005959112982939562,0.01888868133885598,0.014289872982421844]},{"name":"camera_2","offset_m":[-0.011188174631938145,-0.01590883529894723,0.004417339549321487]},{"name":"camera_3","offset_m":[0.010388991335424619,-0.007251201743116397,0.004409195833276699]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013331060748175139,-0.0008067112744800746,0.0012614368754577262],"end_effector_yaw_offset_degrees":0.780042766703197},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014267366495885783,-0.0013154245200963732,0.00028457957586522364],"end_effector_yaw_offset_degrees":-0.06261295848293957},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017647026349689367,-0.0013128791586817887,-0.0013810506366564758],"end_effector_yaw_offset_degrees":0.2537456694240936}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028331319462529475,-0.002093883683470873],"position_m":[0.22113313194625295,0.26510611631652914,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015859389023341044,0.0036514098393235035],"position_m":[0.2196859389023341,-0.3517485901606765,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038210976627041536,-0.0015076142580576568],"position_m":[0.3128789023372958,-0.06070761425805766,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003300253345904786,0.004310922036440088],"position_m":[0.35980025334590476,0.1702109220364401,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fce13fa9aae2fb0dec811da86d57ed8b9a3eab8873507bd4aa7bfdb8c919c5e2","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0053.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6137/tex_ceiling_textures_9876/tex_floor_textures_9465/tex_table_textures_6533/tex_wall_textures_2986","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7916126970483830286,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7916126970483830286,"visual_seed":7916126970483830286,"scene_id":"lab_003","finished_at":"2026-09-04T18:23:53"} +{"episode_id":"ep_000054","started_at":"2026-09-04T18:23:56","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[-0.2060310359500624,0.8594205942145807,0.71338606911949],"aabb_xy":[[-0.2710310370560057,0.8344552211464525],[-0.1410310348441191,0.8843859672827091]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.6598942610694591,0.09578052291500061,0.71338606911949],"aabb_xy":[[0.651679715953775,0.0871039326173593],[0.668108806185143,0.10445711321264187]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.1169114381726043,0.3187241126932534,0.71338606911949],"aabb_xy":[[-0.15545713099780534,0.28017834163706473],[-0.07836574534740326,0.3572698837494421]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[0.23857847456897496,-2.2946572525528666,0.71338606911949],"aabb_xy":[[0.2156627616839251,-2.3175615496892905],[0.26149418745402486,-2.2717529554164435]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.49415659323413097,-1.836724759447981,0.71338606911949],"aabb_xy":[[0.48623331299538264,-1.8592247596859843],[0.5020798734728793,-1.8142247592099776]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.4441482105429274,-0.361943889730572,0.71338606911949],"aabb_xy":[[-0.5341482142198455,-0.42337629630767626],[-0.3541482068660092,-0.3005114831534676]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.3076113035285639,-1.9867874738265392,0.71338606911949],"aabb_xy":[[0.25761202836012775,-2.0367874751024866],[0.3576105786970001,-1.9367874725505922]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[-0.09554818889274852,-1.8025287051805468,0.71338606911949],"aabb_xy":[[-0.09925145022188737,-1.8062307234892645],[-0.09184492756360964,-1.7988266868718286]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[-0.6042781787178113,-1.8549017293742542,0.71338606911949],"aabb_xy":[[-0.641778179066039,-1.8666931249553378],[-0.5667781783695834,-1.8431103337931707]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[-0.25200009680444074,0.6686496037757692,0.71338606911949],"aabb_xy":[[-0.3357223223045232,0.5786496002410733],[-0.16827787130435828,0.7586496073104652]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.49182429047810694,-1.1638135605258317,0.71338606911949],"aabb_xy":[[-0.5044269896151835,-1.1764089567506972],[-0.4792215913410306,-1.1512181643009662]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[-0.3693409109346185,-0.6135799344118424,0.71338606911949],"aabb_xy":[[-0.39180568090602363,-0.636079935290703],[-0.3468761409632134,-0.5910799335329819]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[0.14672436339237893,-0.8300111750911185,0.71338606911949],"aabb_xy":[[0.12421067156892171,-0.900011175692126],[0.1692380552158361,-0.7600111744901109]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.27283119986351567,-2.3767938553654635,0.71338606911949],"aabb_xy":[[0.23533119919893694,-2.3924809133656852],[0.3103312005280943,-2.361106797365241]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[-0.12440142038223545,1.401532384860745,0.71338606911949],"aabb_xy":[[-0.13524189860875035,1.3843461035700961],[-0.11356094215572055,1.4187186661513935]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.17443366961834494,-1.1011584238459946,0.71338606911949],"aabb_xy":[[0.1668094015281667,-1.1087916473825385],[0.1820579377085232,-1.093525200309451]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[0.6113699140830251,1.696810803466406,0.71338606911949],"aabb_xy":[[0.6000081794297388,1.6854423370601177],[0.6227316487363111,1.7081792698726939]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.47927299476398777,-1.6809645900598424,0.71338606911949],"aabb_xy":[[0.3992729976044125,-1.6925121910176595],[0.5592729919235631,-1.6694169891020254]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.2212802296096063,1.5247121046645487,0.71338606911949],"aabb_xy":[[-0.251247786519432,1.4947121043666631],[-0.19131267269978067,1.5547121049624346]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.22172780356867933,-0.6857171343995392,0.71338606911949],"aabb_xy":[[-0.23148379307785322,-0.6954796684587736],[-0.21197181405950544,-0.6759546003403047]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[0.4246968705243386,-1.0678624854070917,0.71338606911949],"aabb_xy":[[0.3747018595648866,-1.1178624844426837],[0.4746918814837907,-1.0178624863715002]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[0.26726971360302076,-2.549282346178191,0.71338606911949],"aabb_xy":[[0.2633092298332864,-2.5569502107637114],[0.2712301973727551,-2.5416144815926702]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.4575822594748069,-0.1055690423117901,0.71338606911949],"aabb_xy":[[0.3925822584743064,-0.15635540746646504],[0.5225822604753074,-0.054782677157115156]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.600391368775659,-1.8251761142743357,0.71338606911949],"aabb_xy":[[0.5962555124429588,-1.862676113718693],[0.6045272251083592,-1.787676114829979]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[-0.3197399582931335,-1.3252795182028432,0.71338606911949],"aabb_xy":[[-0.35707123481837616,-1.3599325729976957],[-0.28240868176789097,-1.2906264634079911]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[0.28889387716793535,-0.8901596577522535,0.71338606911949],"aabb_xy":[[0.28477792705586263,-0.8942752127850989],[0.29300982728000796,-0.8860441027194078]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[0.39542694415027024,-0.7492520288609685,0.71338606911949],"aabb_xy":[[0.33542694430370346,-0.8060706510540072],[0.45542694399683703,-0.6924334066679299]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[-0.48910102150073415,-0.08724399414344397,0.71338606911949],"aabb_xy":[[-0.569101018514982,-0.10737854581685526],[-0.40910102448648605,-0.06710944247003271]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_28","position":[0.6638941018740345,0.35666594597938994,0.71338606911949],"aabb_xy":[[0.6519613675122063,0.34428379317153057],[0.6758268362358625,0.3690480987872493]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_29","position":[0.37598787289602087,0.7301737643011199,0.71338606911949],"aabb_xy":[[0.3534878730821185,0.7256991479306392],[0.39848787270992325,0.7346483806716007]]},{"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_30","position":[0.5535317135627684,0.5332141090649052,0.71338606911949],"aabb_xy":[[0.4685317151453453,0.4483398136026202],[0.6385317119801918,0.6180884045271902]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_31","position":[0.2295592481551897,-1.1922422483537372,0.71338606911949],"aabb_xy":[[0.2012295382066495,-1.1967029905474542],[0.2578889581037299,-1.18778150616002]]}],"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":0.6496387901820464,"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/7497.png","name":"7497"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7497.png","name":"7497"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3582.png","name":"3582"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1266.png","name":"1266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6402.png","name":"6402"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1381.png","name":"1381"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":738.0393323888034,"rotation_z_degrees":287.79499316454564,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010020736543344065,0.009237206564552403,0.004908255756984489]},{"name":"camera_2","offset_m":[-0.003470766522645413,0.004250548320848733,0.008825161143054018]},{"name":"camera_3","offset_m":[-0.01117695226801354,0.01240402114830334,0.005801326042448554]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001434459811915504,-0.0002383744689309975,-0.0011315126232829013],"end_effector_yaw_offset_degrees":0.44187232213022254},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010048846782824764,0.000515101916314879,-0.001424815057424156],"end_effector_yaw_offset_degrees":0.284265848462149},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003726256213842092,0.001143174360577205,-0.0015937297286263644],"end_effector_yaw_offset_degrees":-0.4735738272102852}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003114060725536128,0.003841984756397891],"position_m":[0.21518593927446386,0.2710419847563979,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001314837581417717,-0.002008980509836712],"position_m":[0.2194148375814177,-0.3574089805098367,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005348862399206554,0.004100654732686956],"position_m":[0.31723488623992063,-0.05509934526731305,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003645631151229104,-0.004993197233885627],"position_m":[0.3561354368848771,0.16090680276611435,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0a0cf1c11bc11355443c04b3245e2a241e2813a6e443cbacde0af6439d424bd7","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7497/tex_ceiling_textures_1381/tex_floor_textures_6402/tex_table_textures_3582/tex_wall_textures_1266","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7557013025995741824,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7557013025995741824,"visual_seed":7557013025995741824,"scene_id":"lab_003","finished_at":"2026-09-04T18:26:44"} +{"episode_id":"ep_000055","started_at":"2026-09-04T18:26:49","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[-0.3333356986944938,1.7642467303063598,0.71338606911949],"aabb_xy":[[-0.3743536420808647,1.7142467296754023],[-0.29231775530812293,1.814246730937317]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.6679904606650494,-2.3318219215302594,0.71338606911949],"aabb_xy":[[-0.6915755841289443,-2.3968219237756907],[-0.6444053372011546,-2.266821919284827]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[-0.6350866232451057,0.0925026862648175,0.71338606911949],"aabb_xy":[[-0.6700866224379237,0.08153564026715486],[-0.6000866240522872,0.10346973226248012]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[0.030415384832783166,-0.7282821752755106,0.71338606911949],"aabb_xy":[[-0.01956342367753272,-0.7782821752812294],[0.08039419334309905,-0.6782821752697918]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.12103993902624577,1.5784207283767775,0.71338606911949],"aabb_xy":[[-0.13350729713598142,1.5659554037434542],[-0.10857258091651013,1.5908860530101012]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.058270428072184965,0.7745917275111958,0.71338606911949],"aabb_xy":[[0.013099110224015994,0.7105917303666572],[0.10344174592035396,0.8385917246557342]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[-0.39207145214536143,-1.9918764974011722,0.71338606911949],"aabb_xy":[[-0.4087485881384569,-2.0085764213751025],[-0.37539431615226587,-1.975176573427242]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.12177504816675089,-2.220500339805909,0.71338606911949],"aabb_xy":[[-0.12735671980087965,-2.2330003396236844],[-0.11619337653262213,-2.208000339988134]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[-0.38274555673693217,-2.454252403465032,0.71338606911949],"aabb_xy":[[-0.41837471263689185,-2.489885070221885],[-0.34711640083697237,-2.418619736708179]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.26212481026229195,-0.9807066899512413,0.71338606911949],"aabb_xy":[[-0.2674623859282965,-1.0057066908803813],[-0.2567872345962874,-0.9557066890221018]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[0.3406252910608403,-2.402904621362362,0.71338606911949],"aabb_xy":[[0.2906304581328987,-2.4529046202576055],[0.3906201239887819,-2.3529046224671184]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.5624184992127581,1.4035265328513917,0.71338606911949],"aabb_xy":[[-0.5694588091462952,1.3235265334517208],[-0.5553781892792212,1.4835265322510636]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[0.6742023704066702,-2.1058917012589595,0.71338606911949],"aabb_xy":[[0.6503661527660651,-2.195891702067446],[0.6980385880472753,-2.015891700450473]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[0.4048918706933975,-2.5627266658512955,0.71338606911949],"aabb_xy":[[0.334891869091118,-2.576159459052953],[0.474891872295677,-2.549293872649638]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[0.7040199933351738,-1.5790661327362951,0.71338606911949],"aabb_xy":[[0.6952387661879378,-1.5878458800248256],[0.7128012204824103,-1.5702863854477656]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[-0.38973394961299346,1.0841059946989309,0.71338606911949],"aabb_xy":[[-0.42827964243819455,1.0455602236427421],[-0.3511882567877925,1.1226517657551196]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.07557668947699003,-1.0327077355414402,0.71338606911949],"aabb_xy":[[-0.1130766906617828,-1.0371259582375005],[-0.038076688292197215,-1.0282895128453795]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.35176962739178186,-1.0225371486270651,0.71338606911949],"aabb_xy":[[0.33413679179825423,-1.0401600946426879],[0.3694024629853094,-1.004914202611442]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[-0.03560788807265536,0.9030581607554988,0.71338606911949],"aabb_xy":[[-0.06060788723828847,0.8961059150501424],[-0.010607888907022245,0.9100104064608555]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.10131148602801154,1.7848657504522678,0.71338606911949],"aabb_xy":[[-0.1312790429378372,1.754865750154382],[-0.07134392911818588,1.8148657507501536]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.5180210011644999,-0.14238242216956687,0.71338606911949],"aabb_xy":[[0.4805209996488682,-0.15360919518571192],[0.5555210026801316,-0.13115564915342182]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[0.10662554150072823,-1.6216123534201872,0.71338606911949],"aabb_xy":[[0.04262554112319461,-1.6713576202709994],[0.17062554187826184,-1.571867086569375]]}],"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":0.6481299784200695,"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/5549.png","name":"5549"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5549.png","name":"5549"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3589.png","name":"3589"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7027.png","name":"7027"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9444.png","name":"9444"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8012.png","name":"8012"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":706.9012552483692,"rotation_z_degrees":285.46827088059047,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017032002698581964,-0.009124954974008724,0.007101921465752625]},{"name":"camera_2","offset_m":[-0.007529203080729378,-0.010662536300301588,0.0005801599300160956]},{"name":"camera_3","offset_m":[-0.014321407584399103,-0.005610495983682436,0.01683501289025018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008118425142929334,-0.0007424219598501369,-9.255625072789844e-05],"end_effector_yaw_offset_degrees":0.8890695093586451},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[4.5832745808009525e-05,0.0018621943392614641,-0.0013482057979968922],"end_effector_yaw_offset_degrees":0.9927306418290758},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010816720962960572,-0.0006236511471211564,-0.0007208976699949016],"end_effector_yaw_offset_degrees":0.8759605639523738}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013174119072625647,0.001807651162453146],"position_m":[0.21698258809273743,0.2690076511624531,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001315281115827449,-0.003249862060742106],"position_m":[0.21678471888417253,-0.3586498620607421,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030173278782849025,-0.0024358981754109177],"position_m":[0.3197173278782849,-0.06163589817541092,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00044685144052066667,-0.00467990849794808],"position_m":[0.35694685144052063,0.1612200915020519,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7382bcd79d7e25d3a0bfe4ccc7e5ae5cbff57193e4f9f5eaa7d15ade254dc7f6","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0055.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5549/tex_ceiling_textures_8012/tex_floor_textures_9444/tex_table_textures_3589/tex_wall_textures_7027","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":4690811788605505406,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":4690811788605505406,"visual_seed":4690811788605505406,"scene_id":"lab_003","finished_at":"2026-09-04T18:29:40"} +{"episode_id":"ep_000056","started_at":"2026-09-04T18:29:43","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.3456835449571074,-0.429044802283125,0.71338606911949],"aabb_xy":[[0.33964653195644273,-0.4350715033520733],[0.3517205579577722,-0.4230181012141769]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.1417940518264057,-1.397398444363254,0.71338606911949],"aabb_xy":[[0.09179904086695366,-1.4473984433988458],[0.19178906278585775,-1.3473984453276624]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.08473339809260705,-2.41026317039488,0.71338606911949],"aabb_xy":[[0.024733398246040247,-2.4670817925879187],[0.14473339793917384,-2.3534445482018413]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[-0.2985889663320079,-2.177145954324552,0.71338606911949],"aabb_xy":[[-0.36258896275932984,-2.2243155781466486],[-0.23458896990468603,-2.1299763305024557]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.24961767428228765,-0.826451016838766,0.71338606911949],"aabb_xy":[[0.2382559396290015,-0.8378194832450538],[0.2609794089355738,-0.8150825504324777]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.1605822862437326,-0.6268966986431186,0.71338606911949],"aabb_xy":[[0.13699716277983776,-0.6918967008885504],[0.18416740970762746,-0.5618966963976868]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[-0.4645681319838547,1.1496625955748998,0.71338606911949],"aabb_xy":[[-0.48956813114948783,1.1427103498695432],[-0.4395681328182216,1.1566148412802564]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[0.45604084362733177,-2.062872258639882,0.71338606911949],"aabb_xy":[[0.4507083289727188,-2.0681965868851178],[0.46137335828194476,-2.0575479303946462]]},{"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_8","position":[-0.235552153854658,-2.446085755695515,0.71338606911949],"aabb_xy":[[-0.3205521522720812,-2.5309600511578],[-0.15055215543723477,-2.36121146023323]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.528327632812641,-1.3720665991017948,0.71338606911949],"aabb_xy":[[-0.5923276351554425,-1.4170074503459273],[-0.46432763046983944,-1.3271257478576624]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.5086254483426833,0.40676855491202435,0.71338606911949],"aabb_xy":[[-0.5436254466533788,0.39905353998847864],[-0.47362545003198786,0.41448356983556994]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.634085896476767,-0.12860577958737718,0.71338606911949],"aabb_xy":[[-0.6380463802465014,-0.13627364417289778],[-0.6301254127070327,-0.12093791500185658]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[-0.058919344639224325,-1.7572625970190905,0.71338606911949],"aabb_xy":[[-0.07559648063231983,-1.7739625209930208],[-0.042242208646128813,-1.7405626730451602]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[-0.08144400344985758,-2.4380222710986557,0.71338606911949],"aabb_xy":[[-0.10394400297356497,-2.460518218549276],[-0.05894400392615017,-2.4155263236480344]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[-0.339468863925827,-1.024915511885037,0.71338606911949],"aabb_xy":[[-0.36196886373972936,-1.0293901282555178],[-0.3169688641119246,-1.0204408955145563]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.19010529206529247,-1.5596757754389452,0.71338606911949],"aabb_xy":[[-0.2400895277734697,-1.6096757742524406],[-0.14012105635711525,-1.5096757766254494]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.1916923384236534,1.2285649266969036,0.71338606911949],"aabb_xy":[[0.1840680703334752,1.22093170316036],[0.1993166065138317,1.2361981502334474]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[-0.5858865298032248,0.1416343792701582,0.71338606911949],"aabb_xy":[[-0.6193656970642658,0.1081552658990512],[-0.5524073625421839,0.17511349264126522]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[-0.1764881859222761,0.3498748894251982,0.71338606911949],"aabb_xy":[[-0.26648818825629517,0.2723925348400855],[-0.08648818358825702,0.42735724401031083]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[0.5252734082801762,-2.1336224537983397,0.71338606911949],"aabb_xy":[[0.5144329300536612,-2.150808735088988],[0.536113886506691,-2.1164361725076906]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[0.3870003786456502,-1.9827449925793745,0.71338606911949],"aabb_xy":[[0.3525380312475083,-2.0172388749771963],[0.4214627260437919,-1.9482511101815512]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.3147110573729903,1.7332205817851416,0.71338606911949],"aabb_xy":[[0.2309888318729078,1.6432205782504457],[0.3984332828730727,1.8232205853198376]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[0.5961178697812965,0.5022168846337491,0.71338606911949],"aabb_xy":[[0.5914827546290631,0.49834954955660044],[0.6007529849335298,0.5060842197108977]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[0.01581647292635935,-1.2191759024613664,0.71338606911949],"aabb_xy":[[-0.06418352423321594,-1.2307235034191835],[0.09581647008593464,-1.2076283015035494]]}],"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":0.6509740947827471,"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/2399.png","name":"2399"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2399.png","name":"2399"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9305.png","name":"9305"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/422.png","name":"422"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1130.png","name":"1130"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7481.png","name":"7481"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":813.4209327625254,"rotation_z_degrees":15.613885389703078,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01647137446020416,-0.00860588325025225,-0.014165617315933587]},{"name":"camera_2","offset_m":[-0.00024282064480561985,-0.01568780345998154,0.012727355235517986]},{"name":"camera_3","offset_m":[-0.010662823306724864,0.01225463596449523,0.0044887609353533725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.024624769925671e-05,0.0007898886981266579,0.0004531802550093605],"end_effector_yaw_offset_degrees":0.15146126020012884},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00011989158740768457,-0.0014017541061070102,-0.0004441992436427396],"end_effector_yaw_offset_degrees":-0.7906150927001958},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001553429784362592,-0.00039319905938726843,-0.001328592328626047],"end_effector_yaw_offset_degrees":-0.354313378233827}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030941580030834455,0.002820591566522015],"position_m":[0.22139415800308343,0.27002059156652203,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00353339465339757,0.003206563176637694],"position_m":[0.22163339465339757,-0.3521934368233623,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038740809143145835,-0.0007634041727859388],"position_m":[0.32057408091431455,-0.05996340417278594,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003568134594906169,-0.0022497499955567604],"position_m":[0.36006813459490616,0.16365025000444322,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a88ee7ce46f768a98a584d02f4e89f8eb4594f1d1b442378e2b5288fb33fca58","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2399/tex_ceiling_textures_7481/tex_floor_textures_1130/tex_table_textures_9305/tex_wall_textures_422","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6467065661460704541,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6467065661460704541,"visual_seed":6467065661460704541,"scene_id":"lab_003","finished_at":"2026-09-04T18:32:42"} +{"episode_id":"ep_000057","started_at":"2026-09-04T18:32:47","dimensions":{"distractor":{"count":25,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.4163367392358066,-2.2232888564890354,0.71338606911949],"aabb_xy":[[0.3993266419457559,-2.2394233449873093],[0.4333468365258572,-2.2071543679907615]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.5451317639231918,-0.9292757750548948,0.71338606911949],"aabb_xy":[[0.5269259402619443,-0.9403011756368864],[0.5633375875844396,-0.9182503744729031]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.22271344842926394,-2.4102240792177945,0.71338606911949],"aabb_xy":[[-0.23859794169458912,-2.4245770195166187],[-0.20682895516393882,-2.39587113891897]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[-0.2902296980696348,1.4955959317064846,0.71338606911949],"aabb_xy":[[-0.3542297012882726,1.4488728198074763],[-0.22622969485099687,1.542319043605493]]},{"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_4","position":[-0.4910724353140742,-1.185631433736579,0.71338606911949],"aabb_xy":[[-0.49716706320219256,-1.1942008282882477],[-0.4849778074259559,-1.1770620391849103]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.45131033489084027,-0.5177262807617273,0.71338606911949],"aabb_xy":[[0.4234652981102332,-0.548510779500039],[0.47915537167144745,-0.48694178202341565]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[0.6148532275518266,-2.038321673398252,0.71338606911949],"aabb_xy":[[0.5926807005751756,-2.0604973405543747],[0.6370257545284773,-2.0161460062421286]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.3387686625064352,0.8218943267940051,0.71338606911949],"aabb_xy":[[0.30762174366285205,0.7518943281071979],[0.3699155813500183,0.8918943254808123]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.07903951889201832,-1.1121249933061697,0.71338606911949],"aabb_xy":[[0.029046406782826446,-1.1621249939803655],[0.12903263100121024,-1.0621249926319742]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[0.35137830294588723,1.79550191320465,0.71338606911949],"aabb_xy":[[0.3138783017610943,1.791083690508589],[0.3888783041306799,1.79992013590071]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[-0.5058814200463311,1.7825924762168168,0.71338606911949],"aabb_xy":[[-0.5433814208383266,1.7762246352586264],[-0.46838141925433574,1.7889603171750068]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[0.2754532840802043,-1.3555045498936977,0.71338606911949],"aabb_xy":[[0.23795328373197655,-1.3672959454747813],[0.31295328442843207,-1.3437131543126142]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[-0.09976028701061379,-0.6594251101168436,0.71338606911949],"aabb_xy":[[-0.12004458973401254,-0.6797077352595523],[-0.07947598428721502,-0.6391424849741346]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[0.598775351081672,-1.8516088113617437,0.71338606911949],"aabb_xy":[[0.5641842682276267,-1.9166088116467745],[0.6333664339357171,-1.7866088110767124]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[0.40166586236064217,-0.3783709403438924,0.71338606911949],"aabb_xy":[[0.33166586075836274,-0.39180373354555],[0.4716658639629217,-0.3649381471422348]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.4272193754911895,0.606807053434411,0.71338606911949],"aabb_xy":[[-0.43737239104533876,0.5707375118616704],[-0.41706635993704,0.6428765950071511]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.2238393007500482,1.6677396245273184,0.71338606911949],"aabb_xy":[[-0.22980583969078397,1.6617784798679542],[-0.2178727618093124,1.6737007691866825]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[-0.16255729972465283,-0.4075067883721064,0.71338606911949],"aabb_xy":[[-0.1801901353181804,-0.42512973438772933],[-0.14492446413112525,-0.3898838423564834]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[-0.5288095247571838,0.422713533977098,0.71338606911949],"aabb_xy":[[-0.5788095243335185,0.3727329550249921],[-0.47880952518084907,0.472694112929204]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.04579450378987626,-2.2985319751612954,0.71338606911949],"aabb_xy":[[-0.01920549476719658,-2.328284508575178],[0.1107945023469491,-2.2687794417474128]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[-0.1254588408094418,-0.1297693142978127,0.71338606911949],"aabb_xy":[[-0.175341537687138,-0.17976931354408743],[-0.0755761439317456,-0.07976931505153793]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.5917892887082152,-2.524859986788694,0.71338606911949],"aabb_xy":[[0.5277892863654136,-2.569800838032826],[0.6557892910510167,-2.479919135544561]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.6930414528464091,0.24693272678352862,0.71338606911949],"aabb_xy":[[0.6774856834361438,0.23138229353912143],[0.7085972222566743,0.2624831600279358]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.02729064289039629,-1.317865016793942,0.71338606911949],"aabb_xy":[[-0.05270935853973091,-1.3973821718065516],[0.10729064432052349,-1.2383478617813326]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[0.11207476765858582,-1.6811391696457076,0.71338606911949],"aabb_xy":[[0.022074767935411643,-1.7042125221808873],[0.20207476738176,-1.6580658171105276]]}],"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":0.6477269473675344,"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/7990.png","name":"7990"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7990.png","name":"7990"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7722.png","name":"7722"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7393.png","name":"7393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4131.png","name":"4131"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2213.png","name":"2213"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":621.6677236304172,"rotation_z_degrees":339.03110893178996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013301598938208484,-0.017244766949146888,0.007206938210445813]},{"name":"camera_2","offset_m":[-0.004551902412321529,-0.004301240449406194,-0.016383311652791936]},{"name":"camera_3","offset_m":[0.01667747083889354,-0.0025547748961108376,0.009790469173484816]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004514502908119554,0.0011387355312465377,-0.0007193888116114686],"end_effector_yaw_offset_degrees":0.3953370556773599},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016789502262884348,-0.0008823498541618391,-0.00037781813369385723],"end_effector_yaw_offset_degrees":0.9172328659212974},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006174647985514232,0.0007295880991556323,0.000563108489039284],"end_effector_yaw_offset_degrees":-0.015688159792696332}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010773357365140195,-0.0008340398380148233],"position_m":[0.21937733573651402,0.26636596016198516,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007284557911455651,-0.00038029879282011625],"position_m":[0.21737154420885443,-0.35578029879282014,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001412451458332904,-0.003205619313928312],"position_m":[0.3181124514583329,-0.062405619313928316,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011104566645313264,0.0027360104287184337],"position_m":[0.3553895433354687,0.16863601042871842,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5a06fc21e542bf18be71d72d17ac3f4d1f2191e630088079779fc09ee2c4240d","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7990/tex_ceiling_textures_2213/tex_floor_textures_4131/tex_table_textures_7722/tex_wall_textures_7393","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6694062628115697314,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6694062628115697314,"visual_seed":6694062628115697314,"scene_id":"lab_003","finished_at":"2026-09-04T18:35:35"} +{"episode_id":"ep_000058","started_at":"2026-09-04T18:35:39","dimensions":{"distractor":{"count":24,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.5857819581280824,1.1299103030536295,0.71338606911949],"aabb_xy":[[-0.622816067556142,1.09553309571992],[-0.5487478487000226,1.164287510387339]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.0014173723731980559,1.476999470368836,0.71338606911949],"aabb_xy":[[-0.05654257800278883,1.4169994689275487],[0.053707833256392716,1.536999471810123]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[-0.051797367230960845,-1.3117368514996128,0.71338606911949],"aabb_xy":[[-0.09788245848569233,-1.375736848752168],[-0.00571227597622937,-1.2477368542470577]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[0.2923691959256961,-0.8048698653342474,0.71338606911949],"aabb_xy":[[0.21237537234713788,-0.884869867927089],[0.3723630195042543,-0.7248698627414059]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.30240095397542355,-1.7163433120321936,0.71338606911949],"aabb_xy":[[-0.3824009572332665,-1.7963398198241776],[-0.2224009507175806,-1.6363468042402096]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.36399221854840746,-1.4659148452334536,0.71338606911949],"aabb_xy":[[0.3534247388903084,-1.4764598753464622],[0.3745596982065064,-1.455369815120445]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[-0.22517373682986797,0.6820138719599447,0.71338606911949],"aabb_xy":[[-0.28917373325718987,0.6348442481378483],[-0.16117374040254606,0.7291834957820412]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.6638806563189017,0.3968497362042043,0.71338606911949],"aabb_xy":[[-0.6808907536089523,0.3807152477059303],[-0.646870559028851,0.41298422470247814]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[-0.45189220925187923,0.21931217107408063,0.71338606911949],"aabb_xy":[[-0.4893922093574722,0.2124900092210995],[-0.41439220914628627,0.22613433292706175]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.3393059142181186,1.2810848339254894,0.71338606911949],"aabb_xy":[[-0.40330591351228684,1.2170986935566355],[-0.2753059149239504,1.3450709742943439]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.2509576039600587,-0.20787125341095924,0.71338606911949],"aabb_xy":[[-0.2759576031256918,-0.2148234991163158],[-0.22595760479442556,-0.20091900770560264]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.5184815742800442,0.4824100982829669,0.71338606911949],"aabb_xy":[[-0.5636528921282131,0.4184101011384285],[-0.4733102564318752,0.5464100954275053]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[0.6850136374499147,1.4833164188607912,0.71338606911949],"aabb_xy":[[0.6505511594368268,1.4766527416778685],[0.7194761154630024,1.489980096043714]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[-0.608053134092101,-2.2111592577652712,0.71338606911949],"aabb_xy":[[-0.6405148349740283,-2.2412920898801736],[-0.5755914332101734,-2.181026425650368]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[-0.5343958300294329,0.9620716877377746,0.71338606911949],"aabb_xy":[[-0.5424321647307178,0.9540335684333578],[-0.5263594953281481,0.9701098070421914]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.4125558333261708,-1.4331963647102193,0.71338606911949],"aabb_xy":[[-0.435069525149628,-1.5031963653112268],[-0.3900421415027136,-1.3631963641092117]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[-0.32279030609932957,-1.9375452620936082,0.71338606911949],"aabb_xy":[[-0.3680689209804789,-2.001545261441792],[-0.27751169121818037,-1.8735452627454243]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[0.17002173636860252,-0.977951321405172,0.71338606911949],"aabb_xy":[[0.1350217363921067,-0.9874159374527886],[0.20502173634509838,-0.9684867053575553]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.35860688024645077,0.47059709809551764,0.71338606911949],"aabb_xy":[[-0.40858983043393005,0.4205970984529572],[-0.3086239300589714,0.5205970977380779]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.057295061694021654,1.1433137331644607,0.71338606911949],"aabb_xy":[[-0.06916714470552277,1.0583137334708104],[-0.045422978682520536,1.228313732858111]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.02587772081988382,-1.889739349225633,0.71338606911949],"aabb_xy":[[-0.021928446793884834,-1.9547393519326917],[0.07368388843365246,-1.8247393465185737]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.2905404200190187,0.7110663965466171,0.71338606911949],"aabb_xy":[[0.27362968758267686,0.6975941909540024],[0.3074511524553604,0.7245386021392315]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_22","position":[-0.37592039666411203,-0.9883083243202508,0.71338606911949],"aabb_xy":[[-0.4409203976212392,-1.0402565362539562],[-0.31092039570698476,-0.9363601123865453]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[0.634125595631684,1.8075014945239904,0.71338606911949],"aabb_xy":[[0.6225566148847476,1.782501494407059],[0.6456945763786207,1.8325014946409224]]}],"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":0.6481997296128269,"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/923.png","name":"923"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/923.png","name":"923"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5131.png","name":"5131"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1225.png","name":"1225"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1684.png","name":"1684"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1358.png","name":"1358"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":736.9377952372666,"rotation_z_degrees":68.71682744861252,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012049363827065118,-0.014279494483434886,-0.009809596765228879]},{"name":"camera_2","offset_m":[-0.0027941068417601765,0.0065475993245831185,0.007081612221744735]},{"name":"camera_3","offset_m":[0.0009042958889301025,0.016230742962386555,0.0014098515237358777]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00044359268211340615,-0.0018471767527718792,0.000789103545267014],"end_effector_yaw_offset_degrees":-0.8234382474665549},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001937897151751992,0.001855436451848292,-0.0010808634115176657],"end_effector_yaw_offset_degrees":0.9375671701260424},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002740608288267397,-0.0008370528980244764,-0.0015221456004242753],"end_effector_yaw_offset_degrees":-0.7369718806946026}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004522735483629833,0.0024111914235494325],"position_m":[0.22282273548362982,0.26961119142354945,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00039815427417745977,-0.0007842969337241244],"position_m":[0.21849815427417746,-0.3561842969337241,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004120563904693036,0.003240022246346037],"position_m":[0.320820563904693,-0.05595997775365397,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-4.154585899876929e-05,-0.0029276313708714798],"position_m":[0.3564584541410012,0.1629723686291285,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6ff0423c70c02d9826fc021d79f7df71872dad414a2cc7e1303ca067bf62e287","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_923/tex_ceiling_textures_1358/tex_floor_textures_1684/tex_table_textures_5131/tex_wall_textures_1225","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":9125315099701294425,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":9125315099701294425,"visual_seed":9125315099701294425,"scene_id":"lab_003","finished_at":"2026-09-04T18:38:38"} +{"episode_id":"ep_000059","started_at":"2026-09-04T18:38:43","dimensions":{"distractor":{"count":31,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[-0.6211948187767417,1.7609779863373256,0.71338606911949],"aabb_xy":[[-0.6586948202923734,1.7497512133211806],[-0.5836948172611099,1.7722047593534707]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.14224273794055586,-2.196967391734842,0.71338606911949],"aabb_xy":[[-0.19221603194381628,-2.2469673922893887],[-0.09226944393729539,-2.146967391180294]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.14279349680986808,1.0921888658506593,0.71338606911949],"aabb_xy":[[0.10546222028462549,1.057535811055807],[0.18012477333511073,1.1268419206455116]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.20539191759747177,0.7817750076529726,0.71338606911949],"aabb_xy":[[-0.21624352384634735,0.7709157169253216],[-0.19454031134859615,0.7926342983806236]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.6370668171301741,0.9340583364556907,0.71338606911949],"aabb_xy":[[0.5870719842022326,0.8840583375604473],[0.6870616500581158,0.9840583353509343]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.31492887041950945,-2.155089858896501,0.71338606911949],"aabb_xy":[[0.31029375526727604,-2.158957193973649],[0.31956398557174276,-2.1512225238193516]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[-0.4134760824783779,-0.1807362050590422,0.71338606911949],"aabb_xy":[[-0.4316819061396256,-0.19176160564103387],[-0.39527025881713024,-0.1697108044770506]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.18224083477730935,0.4966445871502927,0.71338606911949],"aabb_xy":[[-0.1998736703708369,0.4790216411346697],[-0.16460799918378174,0.5142675331659157]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[-0.6543175124864011,0.5749949327405628,0.71338606911949],"aabb_xy":[[-0.6806063368068417,0.5487234990859114],[-0.6280286881659604,0.6012663663952139]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[0.44654531653975305,1.4927742278243037,0.71338606911949],"aabb_xy":[[0.43719830895745776,1.4784706056066597],[0.4558923241220482,1.5070778500419477]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.14893572485924678,-2.280560722673818,0.71338606911949],"aabb_xy":[[0.11447337746110493,-2.31505460507164],[0.18339807225738852,-2.2460668402759945]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[-0.03553279923103436,-1.1200885083940748,0.71338606911949],"aabb_xy":[[-0.09953279840080431,-1.166855195513037],[0.028467199938735577,-1.073321821275112]]},{"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_12","position":[0.6677578552971863,-1.163901201784237,0.71338606911949],"aabb_xy":[[0.6584642370600357,-1.2014012002723706],[0.6770514735343368,-1.1264012032961028]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[0.37572143156547844,0.8111592899058433,0.71338606911949],"aabb_xy":[[0.295721432978159,0.7318436879676824],[0.45572143015279787,0.8904748918440042]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[0.26639743556932194,-1.7826442851372812,0.71338606911949],"aabb_xy":[[0.2411765987094822,-1.8078680359901678],[0.2916182724291615,-1.7574205342843943]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.21786462772474324,-1.6831395849447341,0.71338606911949],"aabb_xy":[[-0.27286010554540263,-1.738139586378641],[-0.16286914990408383,-1.6281395835108272]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[0.5943531942439113,-0.18008579010145143,0.71338606911949],"aabb_xy":[[0.5873128843103743,-0.2600857895011228],[0.6013935041774483,-0.10008579070178003]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.26475922796568085,-2.4294624009053525,0.71338606911949],"aabb_xy":[[0.2277251185376211,-2.4638396082390615],[0.30179333739374054,-2.3950851935716426]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[-0.5714599892828316,1.683363590422506,0.71338606911949],"aabb_xy":[[-0.6064599884756499,1.6723965444248432],[-0.5364599900900133,1.6943306364201682]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[-0.1062360107408854,-2.4554855592788383,0.71338606911949],"aabb_xy":[[-0.17123601077518813,-2.502186235959165],[-0.04123601070658267,-2.4087848825985105]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[-0.32990058257888505,1.5233449440045548,0.71338606911949],"aabb_xy":[[-0.3798736481114006,1.4733449441920223],[-0.27992751704636964,1.5733449438170883]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[-0.5036210989655479,1.1050704821528852,0.71338606911949],"aabb_xy":[[-0.5536040491530271,1.0550704825103245],[-0.45363814877806846,1.1550704817954454]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[0.5146955591612332,-1.8699890579841516,0.71338606911949],"aabb_xy":[[0.46470244705204145,-1.9199890586583475],[0.5646886712704252,-1.8199890573099562]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[0.11561692949332747,-1.9278784494204873,0.71338606911949],"aabb_xy":[[0.06061693031673798,-1.9828681241954447],[0.17061692866991696,-1.8728887746455294]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[-0.5826106342939822,-2.0263944861357692,0.71338606911949],"aabb_xy":[[-0.588647647294647,-2.0324211872047178],[-0.5765736212933176,-2.0203677850668216]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[-0.1259122364445301,1.0910052088410773,0.71338606911949],"aabb_xy":[[-0.20591223970237305,1.0110087010490931],[-0.045912233186687135,1.171001716633061]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_26","position":[0.5355077343142545,0.6663323977439948,0.71338606911949],"aabb_xy":[[0.5241459996609682,0.6549639313377066],[0.5468694689675405,0.6777008641502827]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_27","position":[0.26537613754080625,0.9805715440678711,0.71338606911949],"aabb_xy":[[0.2288803169135275,0.9440876016411135],[0.301871958168085,1.0170554864946286]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[-0.49441906094201443,-2.321907589224933,0.71338606911949],"aabb_xy":[[-0.5056641165126323,-2.3331493869490276],[-0.48317400537139654,-2.310665791500837]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_29","position":[-0.11790377152374809,1.6372081092537294,0.71338606911949],"aabb_xy":[[-0.16790377288463532,1.5872302046783135],[-0.06790377016286088,1.6871860138291448]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_30","position":[-0.5565288859452568,0.9067727906499288,0.71338606911949],"aabb_xy":[[-0.6365288833488502,0.826780219451746],[-0.47652888854166336,0.9867653618481116]]}],"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":0.6470248115785012,"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/4874.png","name":"4874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4874.png","name":"4874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5772.png","name":"5772"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4620.png","name":"4620"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7044.png","name":"7044"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1577.png","name":"1577"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":691.3808143721616,"rotation_z_degrees":106.3686759066317,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0034155267338789354,-0.009617949891586779,0.01986583908340683]},{"name":"camera_2","offset_m":[0.0052582456857518806,0.0025384942527501148,-0.013821291564439914]},{"name":"camera_3","offset_m":[-0.0068301929822954625,-0.019106787534160934,0.014214002780007794]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017184391233135087,-0.0008901386704857264,0.0011369146541657309],"end_effector_yaw_offset_degrees":-0.4494344848917202},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001693476896247196,0.0010561710396205255,-0.0019073551798365043],"end_effector_yaw_offset_degrees":-0.5024569529377176},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002092135557910527,0.001311008079732859,0.0018799299590652498],"end_effector_yaw_offset_degrees":0.4674803333336459}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00044284926130894967,-0.000184676593294005],"position_m":[0.21785715073869105,0.267015323406706,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016220270569192279,0.003237497447798628],"position_m":[0.2197220270569192,-0.3521625025522014,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003753344779010881,-0.0023681393602700217],"position_m":[0.3129466552209891,-0.06156813936027002,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00297186331994496,-0.0009616144178737048],"position_m":[0.353528136680055,0.16493838558212628,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b7a672dc031442c2877b2be9c832529c86d2c2e5454fdea3c512970289d90c9e","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0059.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4874/tex_ceiling_textures_1577/tex_floor_textures_7044/tex_table_textures_5772/tex_wall_textures_4620","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7796468290548171923,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7796468290548171923,"visual_seed":7796468290548171923,"scene_id":"lab_003","finished_at":"2026-09-04T18:41:41"} +{"episode_id":"ep_000060","started_at":"2026-09-04T18:41:45","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.4250580043754577,-1.5117987993598179,0.71338606911949],"aabb_xy":[[0.37505800335632256,-1.5482650150976462],[0.4750580053945931,-1.4753325836219902]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.5728409563096215,-1.9987109413630322,0.71338606911949],"aabb_xy":[[-0.6368409527051945,-2.0626742297817655],[-0.5088409599140483,-1.9347476529442986]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.567902511817032,-2.2788847070616214,0.71338606911949],"aabb_xy":[[0.5304025103014004,-2.2901114800777664],[0.6054025133326638,-2.2676579340454763]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[-0.5301923461880181,-0.036779435371511404,0.71338606911949],"aabb_xy":[[-0.5801656401912785,-0.08677943592605875],[-0.4802190521847576,0.013220565183035944]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.22214749441998327,-2.1606767768477617,0.71338606911949],"aabb_xy":[[0.20504541646161512,-2.1777835823790315],[0.23924957237835143,-2.143569971316492]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[0.22973736137569623,0.9253719812132513,0.71338606911949],"aabb_xy":[[0.17473736175395038,0.8703882884257786],[0.28473736099744207,0.9803556740007241]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.6345832331836871,1.3286529248548455,0.71338606911949],"aabb_xy":[[0.6219564458964908,1.3191068511532726],[0.6472100204708835,1.3381989985564184]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[-0.21383594161863212,-0.6293478797972087,0.71338606911949],"aabb_xy":[[-0.22024975526181706,-0.6357577000448771],[-0.20742212797544718,-0.6229380595495404]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[-0.6279507277258395,-0.9462752935630978,0.71338606911949],"aabb_xy":[[-0.6629507269186576,-0.9572423395607603],[-0.5929507285330211,-0.9353082475654351]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.009677066156604242,0.9486188181214072,0.71338606911949],"aabb_xy":[[-0.059650131689119715,0.8986188183088746],[0.040295999375911225,0.9986188179339404]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[0.4753822767844218,-1.392138207310655,0.71338606911949],"aabb_xy":[[0.4657506405639922,-1.4017755200903639],[0.4850139130048514,-1.382500894530946]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[-0.33493263637858156,0.5995488158713003,0.71338606911949],"aabb_xy":[[-0.3899248870140926,0.5445488141279876],[-0.2799403857430707,0.6545488176146131]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.16534176886664642,0.3018229108974557,0.71338606911949],"aabb_xy":[[-0.17333575744434981,0.2938228308023653],[-0.15734778028894303,0.309822990992546]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[0.5695786627796415,0.19957832278094978,0.71338606911949],"aabb_xy":[[0.5621662072382531,0.1937271123593218],[0.57699111832103,0.2054295332025777]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[0.1636108209953282,-2.0214570124158917,0.71338606911949],"aabb_xy":[[0.09961082061779458,-2.071202279266704],[0.22761082137286182,-1.9717117455650794]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[0.45841964897430953,0.47731052576693456,0.71338606911949],"aabb_xy":[[0.3884196471655641,0.4559567570027471],[0.528419650783055,0.4986642945311219]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[0.4550073888738253,1.3905015082662384,0.71338606911949],"aabb_xy":[[0.42152822161278447,1.3570223948951314],[0.48848655613486636,1.4239806216373454]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[-0.47190669022726406,0.9831792368376293,0.71338606911949],"aabb_xy":[[-0.4759848481343138,0.9790982565893661],[-0.4678285323202143,0.9872602170858927]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.41026942788402176,-0.7638858661507026,0.71338606911949],"aabb_xy":[[0.3302694292271358,-0.7783907250749654],[0.4902694265409078,-0.7493810072264399]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[0.2605790681924667,0.5406405571055597,0.71338606911949],"aabb_xy":[[0.25661858442273233,0.5329726925200392],[0.264539551962201,0.5483084216910804]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[-0.6498888657978326,1.8051387532855396,0.71338606911949],"aabb_xy":[[-0.6563905023058372,1.7953709312592299],[-0.6433872292898279,1.8149065753118494]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[0.6516316856421509,-2.5122618296326014,0.71338606911949],"aabb_xy":[[0.5876316823524428,-2.555596748636519],[0.715631688931859,-2.4689269106286837]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[-0.563378120377673,-1.4900928983807227,0.71338606911949],"aabb_xy":[[-0.6273781220556702,-1.538610289860037],[-0.4993781186996755,-1.4415755069014085]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[0.44388282530343326,-0.9706522869052114,0.71338606911949],"aabb_xy":[[0.4263828250440967,-0.9847438290939844],[0.46138282556276994,-0.9565607447164391]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[0.11855464669512605,-0.9555805985099484,0.71338606911949],"aabb_xy":[[0.10770304044625047,-0.9664398892375995],[0.12940625294400165,-0.9447213077822975]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[0.031173811175359556,-1.6847541480646067,0.71338606911949],"aabb_xy":[[0.009284063586418758,-1.7747541453538558],[0.053063558764300356,-1.5947541507753575]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[-0.3358329751034378,-1.5483599182086845,0.71338606911949],"aabb_xy":[[-0.3431152914801013,-1.6383599218181928],[-0.32855065872677397,-1.4583599145991748]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_27","position":[-0.5431897116073798,-0.25934362192272165,0.71338606911949],"aabb_xy":[[-0.6231835351859382,-0.3393436245155632],[-0.4631958880288217,-0.17934361932988008]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[-0.5230051796639019,-1.6760756671915815,0.71338606911949],"aabb_xy":[[-0.6130051782583719,-1.6923262535050028],[-0.433005181069432,-1.6598250808781607]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_29","position":[0.580573780759762,1.6016348683185666,0.71338606911949],"aabb_xy":[[0.5580737805162466,1.5894302336587947],[0.6030737810032774,1.6138395029783386]]}],"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":0.6518944252092768,"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/860.png","name":"860"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/860.png","name":"860"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1151.png","name":"1151"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8025.png","name":"8025"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2363.png","name":"2363"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8855.png","name":"8855"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":793.9337929342989,"rotation_z_degrees":195.99682462126998,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0099046851726024,-0.013930133510319784,0.0010638999888796796]},{"name":"camera_2","offset_m":[0.006349625490835186,0.014132001025107959,-0.0005518079164631463]},{"name":"camera_3","offset_m":[-0.010877169296605583,-0.0028594046610735634,0.006243084778159613]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001442468159624342,-0.00015454403845325485,-0.00019466416490324882],"end_effector_yaw_offset_degrees":-0.2759284976827192},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.724618585443037e-05,-0.0007893766591525271,0.0002617152621761541],"end_effector_yaw_offset_degrees":-0.31597815494205683},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008332234276874316,0.0016466321394816678,0.00017440012873712243],"end_effector_yaw_offset_degrees":0.522346751861388}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002879073695103589,-0.0008351600796040106],"position_m":[0.2154209263048964,0.266364839920396,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005297510985432666,0.0020999253937786346],"position_m":[0.2175702489014567,-0.35330007460622137,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018873920195446947,-0.000946311312175486],"position_m":[0.3148126079804553,-0.06014631131217549,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004280073500231342,-0.0013313913320527051],"position_m":[0.36078007350023134,0.16456860866794729,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d440c81019019c73e121f023af64f4778e3b67f21a66d416e8a7fc3b433b78df","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0060.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_860/tex_ceiling_textures_8855/tex_floor_textures_2363/tex_table_textures_1151/tex_wall_textures_8025","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8481338305819306022,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8481338305819306022,"visual_seed":8481338305819306022,"scene_id":"lab_003","finished_at":"2026-09-04T18:44:39"} +{"episode_id":"ep_000061","started_at":"2026-09-04T18:44:42","dimensions":{"distractor":{"count":30,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[-0.13839593312135345,1.2218776105549258,0.71338606911949],"aabb_xy":[[-0.21839593177823946,1.207372751630663],[-0.05839593446446745,1.2363824694791887]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[0.6629017786481752,1.2699358032852044,0.71338606911949],"aabb_xy":[[0.65485841872222,1.184935802189838],[0.6709451385741303,1.3549358043805708]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[0.11928907966069702,-2.1864467172082724,0.71338606911949],"aabb_xy":[[0.0822549702326373,-2.220823924541982],[0.1563231890887567,-2.152069509874563]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[0.6259696559600403,0.7015607421502077,0.71338606911949],"aabb_xy":[[0.5903405000600805,0.6659280753933549],[0.66159881186,0.7371934089070608]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.012745992249821758,0.99583329697712,0.71338606911949],"aabb_xy":[[-0.09274599252342873,0.9228837491514031],[0.06725400802378521,1.0687828448028365]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[0.1482446428774895,1.2231428435428384,0.71338606911949],"aabb_xy":[[0.06824464180436918,1.213364797205454],[0.22824464395060984,1.2329208898802229]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.3798707823165709,-1.5303473667600394,0.71338606911949],"aabb_xy":[[-0.38637241882457557,-1.5401151887863493],[-0.3733691458085663,-1.5205795447337298]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.6268784124215355,-1.1283223232473867,0.71338606911949],"aabb_xy":[[-0.6387504954330366,-1.213322322941037],[-0.6150063294100344,-1.0433223235537363]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.1830712037668515,0.9922779732615057,0.71338606911949],"aabb_xy":[[0.11307120195810605,0.9709242044973182],[0.2530712055755969,1.013631742025693]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[-0.14985801074613425,-1.5025972921131725,0.71338606911949],"aabb_xy":[[-0.20985801134215043,-1.5574097646583958],[-0.08985801015011807,-1.4477848195679488]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.5699230902971593,0.6950949256308592,0.71338606911949],"aabb_xy":[[-0.6111719013270739,0.6400949261186415],[-0.5286742792672444,0.7500949251430764]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[0.3124499887186607,-2.3960808065816157,0.71338606911949],"aabb_xy":[[0.2624499876995255,-2.432547022319444],[0.362449989737796,-2.359614590843788]]},{"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_12","position":[-0.6043836749844002,-2.1286537716982297,0.71338606911949],"aabb_xy":[[-0.6343753377182705,-2.15865377103503],[-0.5743920122505298,-2.098653772361429]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.6242316946878368,1.6335534652856176,0.71338606911949],"aabb_xy":[[0.5602316926381048,1.5934589821963097],[0.6882316967375688,1.6736479483749256]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.6319129772954046,-0.983505999058786,0.71338606911949],"aabb_xy":[[0.6056241529749637,-1.009777432713437],[0.6582018016158451,-0.9572345654041347]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.48011344051979643,-0.8631363308037547,0.71338606911949],"aabb_xy":[[0.47270098497840796,-0.8689875412253827],[0.4875258960611849,-0.8572851203821268]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[0.4713708692682843,-0.05316096358806499,0.71338606911949],"aabb_xy":[[0.39137087068096493,-0.13247656552622586],[0.5513708678556037,0.0261546383500959]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.2986001331397117,-0.9416239374146149,0.71338606911949],"aabb_xy":[[0.24860512218025965,-0.9916239364502069],[0.3485951440991637,-0.8916239383790234]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[-0.46176971933431415,1.6735146174818296,0.71338606911949],"aabb_xy":[[-0.4836594669232549,1.5835146201925805],[-0.4398799717453733,1.7635146147710787]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[0.38539677669610883,0.9491460170243591,0.71338606911949],"aabb_xy":[[0.36789677741802196,0.9318079169580131],[0.4028967759741957,0.966484117090705]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.5863965275963747,-1.2355936091601123,0.71338606911949],"aabb_xy":[[0.5488965270990165,-1.2395622927082308],[0.623896528093733,-1.2316249256119938]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[0.4041714739811937,1.407209132105614,0.71338606911949],"aabb_xy":[[0.3940184584270442,1.3711395905328734],[0.41432448953534295,1.443278673678354]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[0.6353876131512628,-2.467974555822309,0.71338606911949],"aabb_xy":[[0.6244818370637001,-2.547974552221138],[0.6462933892388255,-2.38797455942348]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[0.2279829854542147,-1.7530686029025586,0.71338606911949],"aabb_xy":[[0.17298750763355528,-1.8080686043364655],[0.2829784632748741,-1.6980686014686517]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_24","position":[0.15168408997506022,1.1083456149598985,0.71338606911949],"aabb_xy":[[0.144059821884882,1.1007123914233548],[0.1593083580652385,1.1159788384964422]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[-0.4323718765597255,-0.013578468706178182,0.71338606911949],"aabb_xy":[[-0.4404995647530387,-0.022492077116885834],[-0.42424418836641226,-0.00466486029547053]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[-0.03485609599186634,-0.36820655425738824,0.71338606911949],"aabb_xy":[[-0.05735609580576873,-0.37268117062786893],[-0.012356096177963967,-0.36373193788690755]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[-0.30484307532059174,1.7614733452472744,0.71338606911949],"aabb_xy":[[-0.3101755899752048,1.756149017002039],[-0.2995105606659788,1.7667976734925102]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_28","position":[-0.16585366757342213,1.0305614675568844,0.71338606911949],"aabb_xy":[[-0.18831843754482722,1.0080614666780237],[-0.14338889760201698,1.0530614684357447]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_29","position":[-0.444456399793285,0.23440763726561498,0.71338606911949],"aabb_xy":[[-0.49445567496172127,0.1844076359896678],[-0.39445712462484894,0.28440763854156215]]}],"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":0.6504937939688331,"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/2459.png","name":"2459"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2459.png","name":"2459"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/860.png","name":"860"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2591.png","name":"2591"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2917.png","name":"2917"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3532.png","name":"3532"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":649.650814106978,"rotation_z_degrees":45.42787751826349,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006128293763352423,-0.00879120186896667,0.014316669318256998]},{"name":"camera_2","offset_m":[0.011503927262752508,0.004504171957201673,-0.01737557435015026]},{"name":"camera_3","offset_m":[-0.008122630988921955,-0.011862524960230974,0.01705992477054669]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019759319903007977,0.0015273365116096733,0.0008844247599287961],"end_effector_yaw_offset_degrees":0.7099522606950006},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002464805623990363,-0.0017306651310433443,0.00107295504938124],"end_effector_yaw_offset_degrees":-0.7618275740137945},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00043724826739983285,0.0011504161955181733,0.0009432962293565409],"end_effector_yaw_offset_degrees":0.08463585795257633}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013341761746673416,0.0027460951071387784],"position_m":[0.21963417617466732,0.2699460951071388,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00036904579977375083,0.0017371628408210972],"position_m":[0.21846904579977375,-0.3536628371591789,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002808450599267107,-0.0002338542912866063],"position_m":[0.3195084505992671,-0.05943385429128661,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023089070475611874,0.0006578605675601583],"position_m":[0.3588089070475612,0.16655786056756014,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8f859a91098077d437002a65da6278ae2bece8e0b1bc57b69d22f0597ffc68df","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2459/tex_ceiling_textures_3532/tex_floor_textures_2917/tex_table_textures_860/tex_wall_textures_2591","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":4000950417575546222,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":4000950417575546222,"visual_seed":4000950417575546222,"scene_id":"lab_003","finished_at":"2026-09-04T18:47:46"} +{"episode_id":"ep_000062","started_at":"2026-09-04T18:47:49","dimensions":{"distractor":{"count":22,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.17158038561707456,1.6565314621982092,0.71338606911949],"aabb_xy":[[-0.19347013320601536,1.56653146490896],[-0.14969063802813376,1.7465314594874581]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.33106171884429064,-1.3269744113763797,0.71338606911949],"aabb_xy":[[-0.4110617158073298,-1.4040500530201532],[-0.2510617218812515,-1.2498987697326063]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[0.6005053877676945,-2.25476048875238,0.71338606911949],"aabb_xy":[[0.5892603321970766,-2.2660022864764753],[0.6117504433383123,-2.2435186910282847]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[-0.519633458603288,-0.4745500008689798,0.71338606911949],"aabb_xy":[[-0.524477053364518,-0.479401653347964],[-0.514789863842058,-0.46969834838999575]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.6804444904052165,0.9977741888853982,0.71338606911949],"aabb_xy":[[-0.6874848003387537,0.9177741894857271],[-0.6734041804716797,1.07777418828507]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.4604184533081711,1.742539243741907,0.71338606911949],"aabb_xy":[[-0.540418451288956,1.734937702780055],[-0.38041845532738605,1.750140784703759]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[-0.25248081816563284,-0.42322446107948286,0.71338606911949],"aabb_xy":[[-0.2649481762753685,-0.4356897857128065],[-0.2400134600558972,-0.41075913644615947]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[0.4535838792873117,-1.6439187895987297,0.71338606911949],"aabb_xy":[[0.40358388064139056,-1.693838333258192],[0.5035838779332329,-1.5939992459392673]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.14792628595341994,-1.9234274235604336,0.71338606911949],"aabb_xy":[[0.1304955708744134,-1.9406995382242844],[0.16535700103242643,-1.9061553088965828]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.38095950145277696,0.6563284823396112,0.71338606911949],"aabb_xy":[[-0.3910412085313504,0.5763284844474964],[-0.37087779437420343,0.7363284802317257]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.2808955479252545,1.189955717911853,0.71338606911949],"aabb_xy":[[-0.3158955471180727,1.17898867191419],[-0.2458955487324362,1.200922763909515]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[0.267919112668654,-1.3482945637997474,0.71338606911949],"aabb_xy":[[0.2547678666973646,-1.373294563556434],[0.28107035863994334,-1.323294564043061]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[-0.24374171420904645,0.8360061092157887,0.71338606911949],"aabb_xy":[[-0.2890203290901957,0.7720061098676049],[-0.19846309932789716,0.9000061085639722]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.5523662773462462,1.3952893007007146,0.71338606911949],"aabb_xy":[[-0.6163662746318949,1.3537825817478704],[-0.48836628006059757,1.4367960196535583]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[0.28522040155838835,-0.9568300202479358,0.71338606911949],"aabb_xy":[[0.21522039995610887,-0.9702628134495935],[0.35522040316066783,-0.9433972270462784]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[0.4539404112400143,1.4259940709173233,0.71338606911949],"aabb_xy":[[0.3899404091902823,1.3858995878280154],[0.5179404132897463,1.4660885540066313]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.4302635333013016,-1.9147558539969678,0.71338606911949],"aabb_xy":[[0.41869455255436505,-1.9397558541139],[0.4418325140482382,-1.8897558538800365]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.6696161836296499,0.28552869621406174,0.71338606911949],"aabb_xy":[[0.6601987090597872,0.27611251907634266],[0.6790336581995127,0.2949448733517807]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[0.5232634866303458,-2.370091006687548,0.71338606911949],"aabb_xy":[[0.4616727274063531,-2.4340910047965947],[0.5848542458543388,-2.306091008578501]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.2702470589191012,-2.086417906891098,0.71338606911949],"aabb_xy":[[-0.30879275174430226,-2.124963677947287],[-0.23170136609390019,-2.0478721358349095]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[-0.5425316547910991,-1.805620401316498,0.71338606911949],"aabb_xy":[[-0.5925146049785783,-1.855620400959058],[-0.4925487046036197,-1.7556204016739372]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[-0.2922503435523082,-0.8909473482595809,0.71338606911949],"aabb_xy":[[-0.31415902569165927,-0.9128480150796715],[-0.2703416614129572,-0.86904668143949]]}],"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":0.6472706660377274,"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/1411.png","name":"1411"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1411.png","name":"1411"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8431.png","name":"8431"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4600.png","name":"4600"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9830.png","name":"9830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1298.png","name":"1298"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":651.2474680370453,"rotation_z_degrees":66.37232997544837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019639706621827405,-0.0018325278791670903,-0.00908938201782831]},{"name":"camera_2","offset_m":[0.007288594958060647,0.0036412819321862307,-0.008793578540900033]},{"name":"camera_3","offset_m":[-0.0037319682611195552,0.008897307306641986,-0.014967878029814047]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019252975344990746,0.0004746378371598414,-0.0008621020310290506],"end_effector_yaw_offset_degrees":-0.475420595575351},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005166421421473233,-0.0008872119996537666,0.0010060730841375785],"end_effector_yaw_offset_degrees":0.4213689170823176},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018178647958999113,0.0017616814029862917,0.00040821529584199627],"end_effector_yaw_offset_degrees":0.2998740653887175}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024775329177299235,-0.0031740573363197725],"position_m":[0.22077753291772992,0.26402594266368024,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003711732525867066,-0.00026328649717888373],"position_m":[0.21772882674741328,-0.3556632864971789,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017778182170855228,-0.002553782215434026],"position_m":[0.3184778182170855,-0.06175378221543403,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004373097281938958,0.004729352217557982],"position_m":[0.352126902718061,0.17062935221755798,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"59c8dd19631b857939f476f83ee4987f62b11ae577a6fe635c50048f4f4b48b5","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0062.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1411/tex_ceiling_textures_1298/tex_floor_textures_9830/tex_table_textures_8431/tex_wall_textures_4600","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7108794823512265210,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7108794823512265210,"visual_seed":7108794823512265210,"scene_id":"lab_003","finished_at":"2026-09-04T18:50:52"} +{"episode_id":"ep_000063","started_at":"2026-09-04T18:50:55","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.637905803301089,-2.048473211130718,0.71338606911949],"aabb_xy":[[-0.6513523299351324,-2.061943062783809],[-0.6244592766670457,-2.0350033594776265]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[0.15037086953836465,-2.402944303865364,0.71338606911949],"aabb_xy":[[0.10906632647462866,-2.4669443034334813],[0.19167541260210064,-2.338944304297247]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[-0.39640712336925693,-2.278566150151834,0.71338606911949],"aabb_xy":[[-0.4298472985652765,-2.3120097759827636],[-0.36296694817323727,-2.245122524320904]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.09863627935030406,-0.6374228766079004,0.71338606911949],"aabb_xy":[[-0.1361362801422995,-0.6437907175660905],[-0.061136278558308596,-0.6310550356497103]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[-0.34848769713775074,-1.7835116284893677,0.71338606911949],"aabb_xy":[[-0.3660343920538697,-1.821011630053619],[-0.3309410022216318,-1.7460116269251165]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.3397947181366916,-0.587918982682412,0.71338606911949],"aabb_xy":[[0.27979471788529037,-0.6422003077188766],[0.3997947183880927,-0.5336376576459473]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.036815510881100355,-1.323204070854255,0.71338606911949],"aabb_xy":[[0.03191621857453685,-1.3508809901568233],[0.041714803187663844,-1.2955271515516857]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[-0.42049132151931595,-0.8540959198903504,0.71338606911949],"aabb_xy":[[-0.44054973313255624,-0.8741610067995079],[-0.40043290990607566,-0.8340308329811928]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.6401784659054314,-0.16107816211636194,0.71338606911949],"aabb_xy":[[-0.6705765770045748,-0.19148506411803143],[-0.6097803548062877,-0.1306712601146924]]},{"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_9","position":[0.44674388150784194,-1.2933001146938892,0.71338606911949],"aabb_xy":[[0.40924388133597,-1.3260008500767961],[0.4842438816797139,-1.2605993793109818]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.45129614059956213,1.6872167573385801,0.71338606911949],"aabb_xy":[[-0.4687268556785686,1.669944642674729],[-0.43386542552055557,1.7044888720024307]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[0.42907961483774426,1.4574565146367848,0.71338606911949],"aabb_xy":[[0.36507961566797426,1.4106898275178223],[0.49307961400751416,1.5042232017557473]]},{"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_12","position":[-0.2605604422382708,0.47317517184451763,0.71338606911949],"aabb_xy":[[-0.2905521049721411,0.44317517250771704],[-0.23056877950440047,0.5031751711813182]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[-0.6551326668984258,0.7122443728701193,0.71338606911949],"aabb_xy":[[-0.660088687083307,0.6897443726679978],[-0.6501766467135447,0.734744373072241]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.46085209886105694,0.9293973112515119,0.71338606911949],"aabb_xy":[[0.39685209694871465,0.8734861619935016],[0.5248521007733993,0.9853084605095225]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[0.48694956588698446,1.2161815984600106,0.71338606911949],"aabb_xy":[[0.4494495655387566,1.204390202878927],[0.5244495662352121,1.2279729940410942]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.488083500821233,-1.8222323771145787,0.71338606911949],"aabb_xy":[[0.42408349914323556,-1.8707497685938927],[0.5520835024992303,-1.7737149856352643]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.6851352605045342,-1.7177053998311564,0.71338606911949],"aabb_xy":[[0.681694584264477,-1.7215668328055214],[0.6885759367445914,-1.7138439668567924]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.5317523248370895,-1.1585861411669227,0.71338606911949],"aabb_xy":[[0.49073438145071857,-1.20858614179788],[0.5727702682234603,-1.1085861405359654]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.4927583192000883,0.3613631875060581,0.71338606911949],"aabb_xy":[[-0.539887698201924,0.29736318646165605],[-0.4456289401982526,0.42536318855045996]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.07437473392998595,0.9383991038414949,0.71338606911949],"aabb_xy":[[0.010374736644337315,0.8968923848886511],[0.1383747312156346,0.979905822794339]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[-0.067969728177113,-0.1810027239904506,0.71338606911949],"aabb_xy":[[-0.07601308810306817,-0.266002725085817],[-0.059926368251157824,-0.09600272289508416]]}],"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":0.6441795592476467,"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/6874.png","name":"6874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6874.png","name":"6874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8489.png","name":"8489"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7690.png","name":"7690"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4071.png","name":"4071"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4797.png","name":"4797"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":689.486347432624,"rotation_z_degrees":80.89782511203765,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00898581153594057,0.014237811344239331,-0.009553535037264456]},{"name":"camera_2","offset_m":[-0.004744684235779487,0.016250288814239577,0.01056519666232656]},{"name":"camera_3","offset_m":[0.0073162897697152535,7.845912067401539e-05,-0.017232181050059144]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000688161103455113,-0.00035341334049850993,0.0018131164999763438],"end_effector_yaw_offset_degrees":0.7767079971902435},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007547912151938422,-0.00037096895444228427,0.0005585478925715574],"end_effector_yaw_offset_degrees":-0.2103392793233021},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018597700412630648,0.00016747423398761176,-0.0019908505950051326],"end_effector_yaw_offset_degrees":-0.2942506730579395}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006570072838639959,-0.002705191230574089],"position_m":[0.218957007283864,0.2644948087694259,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002287234532151056,0.00484326469049358],"position_m":[0.21581276546784894,-0.35055673530950643,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001172634399901029,-0.0005828780097070019],"position_m":[0.315527365600099,-0.059782878009707004,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004594204176160234,0.0020299625693941],"position_m":[0.35190579582383974,0.1679299625693941,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cce7574716fd1c53006e780cab63f0c3cc721526cb70a050cdc863101b09ef6b","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6874/tex_ceiling_textures_4797/tex_floor_textures_4071/tex_table_textures_8489/tex_wall_textures_7690","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8430413693790552555,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8430413693790552555,"visual_seed":8430413693790552555,"scene_id":"lab_003","finished_at":"2026-09-04T18:53:46"} +{"episode_id":"ep_000064","started_at":"2026-09-04T18:53:49","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[-0.253783035991517,-1.7040513818881462,0.71338606911949],"aabb_xy":[[-0.2689459089684541,-1.719216839183265],[-0.23862016301457994,-1.6888859245930274]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[-0.6154396753219178,-2.084827135823299,0.71338606911949],"aabb_xy":[[-0.6379044452933229,-2.1073271367021595],[-0.5929749053505127,-2.0623271349444385]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.6605474479953124,-1.7055490354996266,0.71338606911949],"aabb_xy":[[-0.6818254561387846,-1.7705490378256994],[-0.6392694398518401,-1.6405490331735533]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[-0.09127219626726168,-1.3012264661219968,0.71338606911949],"aabb_xy":[[-0.17127219342683697,-1.3127740670798138],[-0.011272199107686398,-1.2896788651641797]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.1681110148103837,-0.06200954815270299,0.71338606911949],"aabb_xy":[[-0.20496156274737135,-0.09950954897573672],[-0.13126046687339613,-0.024509547329669257]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.6099904489286534,0.5440767280227403,0.71338606911949],"aabb_xy":[[0.572490448136658,0.5377088870645502],[0.6474904497206488,0.5504445689809304]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[0.4402206757561946,0.6497293831579567,0.71338606911949],"aabb_xy":[[0.37622067847054597,0.6082226642051126],[0.5042206730418433,0.6912361021108006]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.5973084848751489,-1.3586781834920179,0.71338606911949],"aabb_xy":[[-0.6471911817528451,-1.4086781827382926],[-0.5474257879974527,-1.3086781842457431]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[-0.5487739254138914,-0.14852658445129974,0.71338606911949],"aabb_xy":[[-0.6187739288054532,-0.18384235815473057],[-0.4787739220223293,-0.11321081074786886]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.5189227731181428,-1.5731449134624902,0.71338606911949],"aabb_xy":[[-0.5574684659433439,-1.611690684518679],[-0.4803770802929418,-1.5345991424063015]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.3089527262816426,0.258447241734149,0.71338606911949],"aabb_xy":[[-0.3729527233937483,0.2094148719397384],[-0.24495272916953692,0.3074796115285596]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[0.4579802906671038,0.3972966824615787,0.71338606911949],"aabb_xy":[[0.4474128110090048,0.38675165234857006],[0.46854777032520284,0.4078417125745872]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[0.3770691166881912,-2.1527385586292223,0.71338606911949],"aabb_xy":[[0.37110257774745536,-2.1586997032885864],[0.38303565562892694,-2.146777413969858]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[0.4794274400694014,1.416730906969382,0.71338606911949],"aabb_xy":[[0.4489431899423713,1.3667309071878861],[0.5099116901964316,1.466730906750878]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[0.34755616128639444,0.9558278384171062,0.71338606911949],"aabb_xy":[[0.29756115032694247,0.9058278393815146],[0.3975511722458466,1.0058278374526979]]},{"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_15","position":[-0.2437167953330085,0.9352812025786172,0.71338606911949],"aabb_xy":[[-0.2737084580668788,0.9052812032418166],[-0.21372513259913814,0.9652812019154177]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[0.2477310820748576,1.7556746012104605,0.71338606911949],"aabb_xy":[[0.22861877471687875,1.7365398223332185],[0.2668433894328365,1.7748093800877025]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[-0.13103115499899476,-1.6824997591757758,0.71338606911949],"aabb_xy":[[-0.18100857186424832,-1.7324997606650239],[-0.08105373813374116,-1.6324997576865268]]},{"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_18","position":[-0.1989892543484722,-2.274898301763524,0.71338606911949],"aabb_xy":[[-0.20828287258562275,-2.3123983002516577],[-0.1896956361113216,-2.23739830327539]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[0.6359696859371711,-0.937540204890462,0.71338606911949],"aabb_xy":[[0.5559696837744086,-1.0174953885166054],[0.7159696880999336,-0.8575850212643182]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.062492022559568094,-0.6618902613706443,0.71338606911949],"aabb_xy":[[-0.07212365877999771,-0.6715275741503531],[-0.052860386339138477,-0.6522529485909353]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.20621351275898664,-2.065128933359433,0.71338606911949],"aabb_xy":[[-0.2563109767400603,-2.1291289338692447],[-0.15611604877791305,-2.001128932849621]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.7026399181775858,-1.1823697841255474,0.71338606911949],"aabb_xy":[[0.6907071838157577,-1.1947519369334068],[0.7145726525394138,-1.169987631317688]]}],"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":0.6518937442252561,"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/8285.png","name":"8285"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8285.png","name":"8285"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1556.png","name":"1556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2145.png","name":"2145"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5139.png","name":"5139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1539.png","name":"1539"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":767.3502932654377,"rotation_z_degrees":41.87019751926938,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009260684743579498,0.0016316072845043994,0.019509324329803294]},{"name":"camera_2","offset_m":[0.007297400861112857,0.0010076116617429784,0.013703652543292238]},{"name":"camera_3","offset_m":[-0.0047110610466255445,-0.011274645825075931,0.009315522658295178]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007070604643119314,0.0018779639763251955,-0.0009416020646744886],"end_effector_yaw_offset_degrees":-0.6140183340166696},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018409789375485488,0.0010369814707565112,0.001912489304110608],"end_effector_yaw_offset_degrees":0.9212423048473433},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010377579511564304,0.0011330352883053823,-0.0014089553597685213],"end_effector_yaw_offset_degrees":0.3153737075988423}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00042373538617583757,-0.003678539568290603],"position_m":[0.21787626461382414,0.2635214604317094,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024625903158041664,-0.004363056843581192],"position_m":[0.22056259031580416,-0.3597630568435812,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018838421887504122,-0.004876350899298066],"position_m":[0.31481615781124955,-0.06407635089929807,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026343800965603617,-0.003602334525247253],"position_m":[0.35913438009656035,0.16229766547475274,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f7878f60993ae8ec38d61cc41bfccd70a7d0d7e1e9daf2aff224e2ad17b58fb4","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8285/tex_ceiling_textures_1539/tex_floor_textures_5139/tex_table_textures_1556/tex_wall_textures_2145","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6961936496537688511,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6961936496537688511,"visual_seed":6961936496537688511,"scene_id":"lab_003","finished_at":"2026-09-04T18:56:36"} +{"episode_id":"ep_000065","started_at":"2026-09-04T18:56:41","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[0.6246041603843204,-1.4469357367370221,0.71338606911949],"aabb_xy":[[0.5746308663810599,-1.4969357372915693],[0.6745774543875808,-1.3969357361824746]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.24988872948259555,-1.2679886146935444,0.71338606911949],"aabb_xy":[[0.1858887291050619,-1.3177338815443564],[0.31388872986012917,-1.218243347842732]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[0.33306195591262466,0.8714765542653651,0.71338606911949],"aabb_xy":[[0.27306195540477163,0.8146298205794437],[0.3930619564204775,0.9283232879512863]]},{"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_3","position":[0.34955560177566425,-1.1355955787122942,0.71338606911949],"aabb_xy":[[0.3120556016037923,-1.1682963140952012],[0.3870556019475362,-1.1028948433293868]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[0.42376179833917416,-1.4770177505272253,0.71338606911949],"aabb_xy":[[0.3337617960051551,-1.554500105112338],[0.5137618006731932,-1.3995353959421126]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[0.055905737153675306,0.7403872497583728,0.71338606911949],"aabb_xy":[[0.021608826135934685,0.7060903635484314],[0.09020264817141593,0.774684135968314]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[-0.4002088485776154,1.2997375245160754,0.71338606911949],"aabb_xy":[[-0.43770884936961085,1.293369683557885],[-0.36270884778561996,1.3061053654742654]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.13274558194123875,0.7628607822058129,0.71338606911949],"aabb_xy":[[-0.15658179958184384,0.6728607813973264],[-0.10890936430063372,0.8528607830142995]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.05155876614006416,-1.5915497279866342,0.71338606911949],"aabb_xy":[[0.002078344926105369,-1.655549725899486],[0.10103918735402295,-1.5275497300737824]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[0.32894612244167454,-1.9786030499983693,0.71338606911949],"aabb_xy":[[0.3180403463541118,-2.0586030463971987],[0.33985189852923725,-1.8986030535995404]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.06564450910497821,1.7020955689285207,0.71338606911949],"aabb_xy":[[-0.15564451278189637,1.6406631623514158],[0.024355494571939966,1.7635279755056246]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[0.6316607459764656,1.7670942044800753,0.71338606911949],"aabb_xy":[[0.5616607438450358,1.7443322388543792],[0.7016607481078949,1.7898561701057705]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.40866775575516817,-0.17249710163623133,0.71338606911949],"aabb_xy":[[-0.4442969116551279,-0.20812976839308428],[-0.37303859985520843,-0.13686443487937838]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.26393696694371094,-0.9877525034078403,0.71338606911949],"aabb_xy":[[0.24265895880023863,-1.0527525057339133],[0.28521497508718313,-0.9227525010817672]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.0023694669012001013,-1.8806895660867053,0.71338606911949],"aabb_xy":[[-0.06636946830919076,-1.9324785176106298],[0.06163053450679056,-1.8289006145627804]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.08695870481448109,-1.0105574876463141,0.71338606911949],"aabb_xy":[[0.04945870487071467,-1.0188505776811507],[0.12445870475824748,-1.0022643976114776]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.46726993661697724,-0.7771406967428887,0.71338606911949],"aabb_xy":[[-0.5472699370871932,-0.785451404357237],[-0.38726993614676136,-0.7688299891285403]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.06037293922727338,-2.3450694520422704,0.71338606911949],"aabb_xy":[[-0.06979041379713613,-2.35448562917999],[-0.05095546465741063,-2.3356532749045518]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[0.5662985050511289,-0.5065584135733894,0.71338606911949],"aabb_xy":[[0.5622203471440792,-0.5106393938216527],[0.5703766629581786,-0.5024774333251261]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[0.5404980633605945,-1.8008287538334875,0.71338606911949],"aabb_xy":[[0.45049806363742023,-1.8239021063686671],[0.6304980630837685,-1.7777554012983074]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[-0.6104737169352271,1.2558476987882923,0.71338606911949],"aabb_xy":[[-0.6248081420613906,1.2437874832337534],[-0.5961392918090637,1.2679079143428311]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[0.020356118873564255,-2.327048289312476,0.71338606911949],"aabb_xy":[[-0.0032290045903305975,-2.392048291557908],[0.04394124233745911,-2.2620482870670444]]}],"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":0.6491841698324768,"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/5748.png","name":"5748"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5748.png","name":"5748"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9440.png","name":"9440"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7347.png","name":"7347"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2777.png","name":"2777"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7746.png","name":"7746"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":560.5966973846682,"rotation_z_degrees":188.86847220093273,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008583327918620993,-0.016494719060166252,0.008431263443803107]},{"name":"camera_2","offset_m":[0.013803146015635193,0.007668625875072253,0.01812111070261174]},{"name":"camera_3","offset_m":[0.00973602147783122,-0.019991070269546933,-0.008378999953291793]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015802604526151827,-0.0008223438042778914,0.0007353763221012327],"end_effector_yaw_offset_degrees":-0.7549546565119849},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009175135909192268,0.0014782903791739212,-0.000774913951452049],"end_effector_yaw_offset_degrees":-0.9088916525273663},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009254751804376538,0.0011850896966973546,0.000468951703209632],"end_effector_yaw_offset_degrees":-0.39566569430279586}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000537786351012451,0.0007320982307920023],"position_m":[0.21776221364898754,0.267932098230792,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001423188509829787,-0.004886337557554283],"position_m":[0.2166768114901702,-0.3602863375575543,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003342866604263522,-0.00040122443074047925],"position_m":[0.3200428666042635,-0.05960122443074048,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[9.696688150575856e-05,0.003853686294781454],"position_m":[0.3565969668815057,0.16975368629478144,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c527cd9ed29b2a5a6420d533b6abf6d33e298bcf67796f32c52c80e12ce157fd","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0065.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5748/tex_ceiling_textures_7746/tex_floor_textures_2777/tex_table_textures_9440/tex_wall_textures_7347","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3586447969727298852,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3586447969727298852,"visual_seed":3586447969727298852,"scene_id":"lab_003","finished_at":"2026-09-04T18:59:44"} +{"episode_id":"ep_000066","started_at":"2026-09-04T18:59:47","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[0.4095149383444965,-2.20010434752316,0.71338606911949],"aabb_xy":[[0.40555445457476214,-2.2077722121086807],[0.41347542211423083,-2.1924364829376395]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.49315234931848395,-2.4383368545271353,0.71338606911949],"aabb_xy":[[0.44315733835903204,-2.4883368535627275],[0.5431473602779361,-2.388336855491544]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[0.6250306645857875,1.2613866321147564,0.71338606911949],"aabb_xy":[[0.587530664642021,1.2530935420799199],[0.6625306645295538,1.269679722149593]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[-0.27811532567653535,1.464148734785009,0.71338606911949],"aabb_xy":[[-0.3092622445201184,1.3941487360982017],[-0.24696840683295218,1.534148733471816]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.5435925496725761,1.6933556750198204,0.71338606911949],"aabb_xy":[[-0.5596544771310936,1.6083556732072284],[-0.5275306222140583,1.778355676832412]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.5052638330947448,-1.4495080421668771,0.71338606911949],"aabb_xy":[[-0.5465683761584808,-1.5135080417349942],[-0.4639592900310088,-1.38550804259876]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[0.15510513232328382,0.9870493036800236,0.71338606911949],"aabb_xy":[[0.11807102289522409,0.9526720963463143],[0.1921392417513435,1.021426511013733]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[0.3697216605175213,-1.620903466039427,0.71338606911949],"aabb_xy":[[0.31472940988201037,-1.67590346778274],[0.4247139111530323,-1.5659034642961145]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.2503703091101696,1.153616423965314,0.71338606911949],"aabb_xy":[[-0.31437030840433783,1.08963028359646],[-0.1863703098160014,1.2176025643341684]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.5826101973660021,-1.2296731194970303,0.71338606911949],"aabb_xy":[[-0.6626101947695954,-1.3096656906952129],[-0.5026101999624085,-1.1496805482988472]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.6652002680562986,-0.4090334960634636,0.71338606911949],"aabb_xy":[[-0.678351514027588,-0.43403349582015016],[-0.6520490220850093,-0.3840334963067771]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.2931072105801598,-0.5788002723121908,0.71338606911949],"aabb_xy":[[-0.3531072114409725,-0.6302267023186771],[-0.23310720971934693,-0.5273738423057043]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.03730032481160639,-2.3904113972783114,0.71338606911949],"aabb_xy":[[0.029256964885651215,-2.475411398373678],[0.04534368473756156,-2.305411396182945]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[0.32956566131358,-0.8079063290657265,0.71338606911949],"aabb_xy":[[0.24956566084336412,-0.816217036680075],[0.40956566178379605,-0.7995956214513782]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[-0.11283860704495097,-2.345674625353988,0.71338606911949],"aabb_xy":[[-0.15033860562057175,-2.358410921017546],[-0.07533860846933015,-2.33293832969043]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[0.39430393773325356,-0.9312818171536072,0.71338606911949],"aabb_xy":[[0.376671102139726,-0.9489047631692301],[0.41193677332678114,-0.9136588711379842]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[-0.25134256439580943,-1.3136363699117213,0.71338606911949],"aabb_xy":[[-0.3153425607913825,-1.3775996583304546],[-0.18734256800023635,-1.2496730814929875]]},{"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_17","position":[0.6747091985249647,-2.1647596626355408,0.71338606911949],"aabb_xy":[[0.6654155802878141,-2.2022596611236747],[0.6840028167621153,-2.127259664147407]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[0.7094365545812822,-0.4573052538955378,0.71338606911949],"aabb_xy":[[0.6985960763547673,-0.47449153518618653],[0.7202770328077971,-0.4401189726048889]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.1585068931345862,1.45741956943955,0.71338606911949],"aabb_xy":[[-0.17097425124432186,1.4449542448062267],[-0.14603953502485056,1.4698848940728737]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.16649663974439555,-1.9181438585479338,0.71338606911949],"aabb_xy":[[0.14400021831053142,-1.940643858354681],[0.18899306117825962,-1.8956438587411861]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.22451431716105485,-0.41731205581631814,0.71338606911949],"aabb_xy":[[-0.2895143171953576,-0.46401273249664543],[-0.1595143171267521,-0.37061137913599085]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[0.18279382637185382,1.6897814962089996,0.71338606911949],"aabb_xy":[[0.10279382771496781,1.6752766372847367],[0.2627938250287398,1.7042863551332625]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[-0.4354606420213948,-0.6618798143019466,0.71338606911949],"aabb_xy":[[-0.46379035196993496,-0.6663405564956638],[-0.4071309320728545,-0.6574190721082297]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[0.5309807151075618,0.2605859808030302,0.71338606911949],"aabb_xy":[[0.495980715211543,0.25221174529109025],[0.5659807150035807,0.26896021631497014]]}],"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":0.6510293088403672,"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/7199.png","name":"7199"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7199.png","name":"7199"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4492.png","name":"4492"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9293.png","name":"9293"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/744.png","name":"744"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8859.png","name":"8859"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":746.1027738861941,"rotation_z_degrees":71.4573874157902,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009656773584109307,-0.00961665579370378,-0.007368129689309244]},{"name":"camera_2","offset_m":[0.0008214411016650644,-0.0017175019104087932,-0.0074067619868350525]},{"name":"camera_3","offset_m":[-0.0029732518467605884,0.004923815105466186,0.008695541930434415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[1.3809542938106843e-06,0.001692707292727363,0.0003192359719976479],"end_effector_yaw_offset_degrees":0.5325997512709812},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018206935952331516,0.000449238734352605,-0.0012145308576203954],"end_effector_yaw_offset_degrees":-0.1806626352669063},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013550219591171027,-0.001805432117272778,0.0007128932071749422],"end_effector_yaw_offset_degrees":0.015468018525730987}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003344418242392763,0.0006428332659361565],"position_m":[0.21495558175760723,0.26784283326593616,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003249290719728665,-0.0023903715484895507],"position_m":[0.21485070928027133,-0.3577903715484895,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00268637494255353,-0.0027865995295533077],"position_m":[0.31401362505744645,-0.06198659952955331,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003313726695822846,-0.0010551726005660787],"position_m":[0.35981372669582284,0.1648448273994339,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1d1e7d1f5d3262db415678c5fe78a80982844d420a7c8eca772023a0c22c28fe","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7199/tex_ceiling_textures_8859/tex_floor_textures_744/tex_table_textures_4492/tex_wall_textures_9293","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5938071764514748558,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5938071764514748558,"visual_seed":5938071764514748558,"scene_id":"lab_003","finished_at":"2026-09-04T19:02:44"} +{"episode_id":"ep_000067","started_at":"2026-09-04T19:02:48","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.03608236620291183,0.8757464999665276,0.71338606911949],"aabb_xy":[[0.02567080752242811,0.870400766630629],[0.046493924883395536,0.881092233302426]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[0.10027604627284004,-1.7445812293057585,0.71338606911949],"aabb_xy":[[0.08277604713847285,-1.7544608563433464],[0.1177760454072072,-1.7347016022681707]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.1814073759916931,0.4989419286324024,0.71338606911949],"aabb_xy":[[0.17490573948368848,0.4891741066060927],[0.18790901249969774,0.5087097506587122]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[0.03739665950618409,-2.3223408869662823,0.71338606911949],"aabb_xy":[[0.0029341814930963217,-2.329004564149205],[0.07185913751927187,-2.3156772097833596]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[-0.4559249690168665,0.10407012989397524,0.71338606911949],"aabb_xy":[[-0.46937149565090985,0.090600278240884],[-0.4424784423828232,0.11753998154706645]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.30089940623252964,0.4167164824649974,0.71338606911949],"aabb_xy":[[-0.3508994072516649,0.38025026672716955],[-0.2508994052133944,0.4531826982028254]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[0.22555445054992407,-1.9746766434359153,0.71338606911949],"aabb_xy":[[0.21038228126829076,-1.9898455003641187],[0.24072661983155744,-1.959507786507712]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[0.6042529821999028,1.625322958435261,0.71338606911949],"aabb_xy":[[0.5667529817025446,1.6213542748871423],[0.6417529826972611,1.6292916419833794]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.4625236458709798,-0.7500921008151515,0.71338606911949],"aabb_xy":[[0.45548219492023223,-0.7571188525529462],[0.4695650968217274,-0.7430653490773571]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.5269804699394145,-1.1373239267698518,0.71338606911949],"aabb_xy":[[0.5230199861696802,-1.1449917913553727],[0.5309409537091488,-1.1296560621843315]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[0.44104673571838027,1.0970370769107727,0.71338606911949],"aabb_xy":[[0.37704673545790945,1.0520282775578447],[0.5050467359788511,1.1420458762637007]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[-0.6399197904639019,1.6962098894624016,0.71338606911949],"aabb_xy":[[-0.6459568034645666,1.6901831883934535],[-0.6338827774632372,1.7022365905313497]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.1786171464421138,0.6597131329493009,0.71338606911949],"aabb_xy":[[0.16082363950719736,0.6419133873535032],[0.19641065337703023,0.6775128785450986]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.20196001219073328,-0.6258808445711384,0.71338606911949],"aabb_xy":[[-0.20659512734296662,-0.6297481796482869],[-0.19732489703849984,-0.6220135094939896]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[-0.5353456900551974,-1.8764438283941756,0.71338606911949],"aabb_xy":[[-0.5472784244170255,-1.8888259812020352],[-0.5234129556933693,-1.8640616755863164]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[-0.029054458678499984,-1.0732848888573356,0.71338606911949],"aabb_xy":[[-0.08404670931401094,-1.1282848906006484],[0.02593779195701097,-1.0182848871140229]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[-0.10455190637357292,-1.4900550874143865,0.71338606911949],"aabb_xy":[[-0.1845519033878209,-1.5101896390877978],[-0.02455190935932494,-1.4699205357409753]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[0.20896574910788035,1.1654017175923097,0.71338606911949],"aabb_xy":[[0.1636871342267311,1.1014017182441258],[0.2542443639890296,1.2294017169404932]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.3462193520652078,0.8589549637380527,0.71338606911949],"aabb_xy":[[-0.35630105914378124,0.7789549658459379],[-0.3361376449866343,0.9389549616301672]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.5355153258241807,-1.7866010480756418,0.71338606911949],"aabb_xy":[[-0.5728466023494233,-1.821254102870494],[-0.4981840492989381,-1.7519479932807895]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.360655831071512,0.04260482160906598,0.71338606911949],"aabb_xy":[[-0.39565583242299374,0.02224508565224514],[-0.32565582972003027,0.0629645575658868]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.3702203014551657,0.6908449037967461,0.71338606911949],"aabb_xy":[[0.3589752458845478,0.6796031060726508],[0.3814653570257835,0.7020867015208414]]},{"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_22","position":[0.28174935361735687,-0.7028336659830987,0.71338606911949],"aabb_xy":[[0.19674935519993364,-0.7877079614453837],[0.3667493520347801,-0.6179593705208137]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[-0.6523947030185651,-1.652575567890632,0.71338606911949],"aabb_xy":[[-0.669941397934684,-1.6900755694548832],[-0.6348480081024461,-1.6150755663263807]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.3291415418486334,-1.6979697881103442,0.71338606911949],"aabb_xy":[[0.249141539685871,-1.7779249717364878],[0.40914154401139596,-1.6180146044842005]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_25","position":[-0.20027501367431266,-1.5999868800540265,0.71338606911949],"aabb_xy":[[-0.24527501514054154,-1.6449867369155073],[-0.15527501220808382,-1.554987023192546]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[-0.6487488557293648,-1.3412773281439694,0.71338606911949],"aabb_xy":[[-0.6843780116293245,-1.376909994900822],[-0.6131196998294051,-1.3056446613871162]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_27","position":[-0.3835584650426878,-1.9618284210977937,0.71338606911949],"aabb_xy":[[-0.4296435562974193,-2.0258284183503488],[-0.33747337378795633,-1.8978284238452388]]}],"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":0.6532438960658262,"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/4423.png","name":"4423"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4423.png","name":"4423"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6726.png","name":"6726"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2918.png","name":"2918"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7891.png","name":"7891"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5954.png","name":"5954"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":675.6390486472557,"rotation_z_degrees":48.073271203348725,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014859119895231122,0.009197662007947454,0.015270368311039503]},{"name":"camera_2","offset_m":[0.01580290088868502,-0.012559477643435152,0.008601531573203078]},{"name":"camera_3","offset_m":[0.019113506268912544,0.01683695327189116,-0.017848054112675493]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00019778055568607923,0.0004808168058654315,0.0008107763611259742],"end_effector_yaw_offset_degrees":-0.04524801046257032},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013072003024558279,0.0007120053583655125,0.0013032769537669815],"end_effector_yaw_offset_degrees":-0.71403299747579},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012022960743037527,0.001741479636778199,-0.0006269542212180715],"end_effector_yaw_offset_degrees":0.5729569816636557}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004620938024751842,0.0020166680723800448],"position_m":[0.22292093802475182,0.26921666807238004,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0043920056789564415,-0.003891122919052136],"position_m":[0.22249200567895644,-0.35929112291905213,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017526737533227789,-0.002759207772645126],"position_m":[0.3149473262466772,-0.06195920777264513,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025548861005362192,-0.0023217360741867444],"position_m":[0.3590548861005362,0.16357826392581326,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"411d1a2373bdb5ab2d1b311d235e89d8066f29fc9f7eda1b6d81daeb2abafdec","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0067.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4423/tex_ceiling_textures_5954/tex_floor_textures_7891/tex_table_textures_6726/tex_wall_textures_2918","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8928483349536448496,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8928483349536448496,"visual_seed":8928483349536448496,"scene_id":"lab_003","finished_at":"2026-09-04T19:05:40"} +{"episode_id":"ep_000068","started_at":"2026-09-04T19:05:43","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[0.5148707724765371,0.6630477161715844,0.71338606911949],"aabb_xy":[[0.45087076925789926,0.6163246042725762],[0.578870775695175,0.7097708280705929]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[-0.22669138025182128,-2.1064132048955915,0.71338606911949],"aabb_xy":[[-0.2906913819298186,-2.154930596374906],[-0.1626913785738239,-2.0578958134162777]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[0.4276945335947846,-1.8839236203429734,0.71338606911949],"aabb_xy":[[0.3926945336987657,-1.8922978558549135],[0.4626945334908035,-1.8755493848310338]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[0.2567587163125321,-1.5373942796178548,0.71338606911949],"aabb_xy":[[0.22229636891439022,-1.571888162015677],[0.2912210637106738,-1.5029003972200317]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.01154422436899294,-1.948186909705616,0.71338606911949],"aabb_xy":[[-0.05245577589147787,-1.993195709058544],[0.07554422462946374,-1.903178110352688]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.08727739531644962,1.090116728407239,0.71338606911949],"aabb_xy":[[-0.09431770524998664,1.0101167290075679],[-0.08023708538291265,1.1701167278069107]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[-0.3240093920507946,0.2835676093139523,0.71338606911949],"aabb_xy":[[-0.3472912342489259,0.19856760801672427],[-0.3007275498526632,0.3685676106111804]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[-0.4698770414605172,0.5149521624419622,0.71338606911949],"aabb_xy":[[-0.4780915865762011,0.5062755721443206],[-0.46166249634483314,0.5236287527396033]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.16558075947000872,1.1931271402123689,0.71338606911949],"aabb_xy":[[-0.18748944160935974,1.171226473392278],[-0.14367207733065765,1.2150278070324594]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.5171150748968263,-1.7034185136947135,0.71338606911949],"aabb_xy":[[-0.5821150775346198,-1.7548981123941605],[-0.4521150722590328,-1.6519389149952666]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.10137140166214575,1.0989771097596566,0.71338606911949],"aabb_xy":[[0.05139810765888528,1.0489771092051092],[0.15134469566540618,1.148977110314204]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.6276836446896878,-0.32530059487955443,0.71338606911949],"aabb_xy":[[0.5676836448431211,-0.3821192170725931],[0.6876836445362546,-0.26848197268651575]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.6704973269528707,0.7955660261082289,0.71338606911949],"aabb_xy":[[-0.6865592544113883,0.710566024295637],[-0.654435399494353,0.8805660279208206]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.47596598305590676,-1.178566298872897,0.71338606911949],"aabb_xy":[[-0.5254464042698657,-1.242566296785749],[-0.426485561841948,-1.1145663009600453]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[0.4883202771328543,-1.7531235303326544,0.71338606911949],"aabb_xy":[[0.43319507150326353,-1.8131235317739416],[0.5434454827624451,-1.6931235288913673]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[-0.3545655033370387,1.3991637069805711,0.71338606911949],"aabb_xy":[[-0.41456550393305486,1.3443512344353477],[-0.2945655027410225,1.4539761795257946]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.34307447313124595,-0.9030591730808215,0.71338606911949],"aabb_xy":[[-0.36557447364328655,-0.9255510314462199],[-0.32057447261920535,-0.8805673147154232]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[0.5319115428027372,-0.0821261294901876,0.71338606911949],"aabb_xy":[[0.49511690967783095,-0.11903200458676987],[0.5687061759276435,-0.045220254393605316]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[0.5874840479765373,-0.7410163276807544,0.71338606911949],"aabb_xy":[[0.5794406880505821,-0.826016328776121],[0.5955274079024925,-0.6560163265853881]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[0.5628516691003143,0.887904924671358,0.71338606911949],"aabb_xy":[[0.5178516676340854,0.8429050678098774],[0.6078516705665431,0.9329047815328387]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[-0.42354706780519896,-0.18421533666882262,0.71338606911949],"aabb_xy":[[-0.4298591673415374,-0.18998227592204145],[-0.41723496826886053,-0.17844839741560378]]}],"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":0.6507510271166471,"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/9004.png","name":"9004"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9004.png","name":"9004"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1186.png","name":"1186"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4619.png","name":"4619"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8831.png","name":"8831"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3649.png","name":"3649"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":571.5368002638005,"rotation_z_degrees":242.02642386125947,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016595568756943516,0.002237777996930892,0.0017670736870693086]},{"name":"camera_2","offset_m":[-0.0013874831569728845,0.01818128364268522,-0.006590258466830737]},{"name":"camera_3","offset_m":[0.0034178761316910992,-0.0011613973256723517,-0.010066699629784214]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002848877880346568,-0.0018713956225710519,-0.0006706838746891525],"end_effector_yaw_offset_degrees":0.05140847583055064},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018093122880634299,0.00043574237333649435,0.00017516805140494396],"end_effector_yaw_offset_degrees":-0.5630964579879103},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000939744681733576,8.517915446354081e-05,0.00029212607888102647],"end_effector_yaw_offset_degrees":0.05104052663198244}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004412801227725409,0.004289857676121935],"position_m":[0.21874128012277252,0.27148985767612194,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004067427163561982,-0.004434374441188006],"position_m":[0.214032572836438,-0.359834374441188,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002605577105438114,0.003359063742499879],"position_m":[0.31409442289456185,-0.055840936257500126,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002896204434317454,-0.0005600361930954423],"position_m":[0.3593962044343174,0.16533996380690455,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a31710eee06daae67889995e939a2ba260a7368db8324e34a19000174b57819b","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9004/tex_ceiling_textures_3649/tex_floor_textures_8831/tex_table_textures_1186/tex_wall_textures_4619","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2709867699322801527,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2709867699322801527,"visual_seed":2709867699322801527,"scene_id":"lab_003","finished_at":"2026-09-04T19:08:30"} +{"episode_id":"ep_000069","started_at":"2026-09-04T19:08:33","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[-0.2034020426164524,1.4582784879876516,0.71338606911949],"aabb_xy":[[-0.26840204049810024,1.407154824281111],[-0.1384020447348046,1.509402151694193]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.6901833566259321,-2.1138060559002625,0.71338606911949],"aabb_xy":[[0.6726834231919486,-2.1313060558204966],[0.7076832900599154,-2.0963060559800275]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.6101022139445477,0.7757809754231335,0.71338606911949],"aabb_xy":[[-0.6651022131211372,0.7207913006481758],[-0.5551022147679582,0.830770650198091]]},{"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_3","position":[-0.5329223648221171,1.021072705904277,0.71338606911949],"aabb_xy":[[-0.5422159830592677,0.9835727074161431],[-0.5236287465849665,1.058572704392411]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.15050529880701258,-2.0793944275080656,0.71338606911949],"aabb_xy":[[-0.16800529808509945,-2.0967325275744115],[-0.1330052995289257,-2.0620563274417196]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[0.3273513562731163,-1.1034739094197137,0.71338606911949],"aabb_xy":[[0.2633513571033464,-1.1502405965386762],[0.3913513554428863,-1.0567072223007512]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.1728868514091183,-1.8775146832224108,0.71338606911949],"aabb_xy":[[0.1648933616138363,-1.885512815162887],[0.18088034120440036,-1.8695165512819358]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.03942443887366032,1.2764225882957438,0.71338606911949],"aabb_xy":[[-0.0944199166943197,1.2214225868618367],[0.015571038946999079,1.3314225897296506]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[-0.172975159198399,1.6621046982289216,0.71338606911949],"aabb_xy":[[-0.1848472422099001,1.5771046985352712],[-0.16110307618689787,1.747104697922572]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[0.5137891116745259,-1.55578985501097,0.71338606911949],"aabb_xy":[[0.4337891102443987,-1.6353070100235794],[0.5937891131046531,-1.4762726999983604]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.6278160818715577,-0.4396017877296492,0.71338606911949],"aabb_xy":[[-0.6928160804286305,-0.46935432114353187],[-0.5628160833144848,-0.40984925431576663]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.6479570724928174,0.026850612636443838,0.71338606911949],"aabb_xy":[[0.6227362356329776,0.0016268617835570908],[0.673177909352657,0.05207436348933059]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[-0.2981725353868457,-1.7230930236838407,0.71338606911949],"aabb_xy":[[-0.3394213464167603,-1.7780930231960579],[-0.25692372435693084,-1.668093024171623]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.23555489116866446,-1.557422787928321,0.71338606911949],"aabb_xy":[[-0.299554891546198,-1.607168054779133],[-0.1715548907911308,-1.5076775210775084]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.07865584182551655,-1.2974493270527097,0.71338606911949],"aabb_xy":[[-0.08828747804594618,-1.3070866398324186],[-0.06902420560508694,-1.2878120142730007]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.6192837993996361,1.2743319999685707,0.71338606911949],"aabb_xy":[[0.5392838022400608,1.2627843990107537],[0.6992837965592114,1.2858796009263878]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.10802351938611021,-2.0108111036034844,0.71338606911949],"aabb_xy":[[0.07805596247628455,-2.04081110390137],[0.13799107629593588,-1.9808111033055986]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.34043336663755136,0.14069260868602784,0.71338606911949],"aabb_xy":[[-0.35220155343220894,0.05569260878080627],[-0.3286651798428939,0.22569260859124943]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[0.38800000616143193,-0.14093554587381663,0.71338606911949],"aabb_xy":[[0.38386414982873174,-0.17843554531817363],[0.3921358624941321,-0.10343554642945962]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.15830989980074706,0.7039737146188956,0.71338606911949],"aabb_xy":[[0.09330989869480377,0.6790083415507673],[0.22330990090669034,0.7289390876870239]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[0.12503370833613103,1.0845925100221994,0.71338606911949],"aabb_xy":[[0.055033706527385595,1.063238741258012],[0.19503371014487647,1.1059462787863867]]}],"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":0.6490283059536277,"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/4388.png","name":"4388"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4388.png","name":"4388"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5816.png","name":"5816"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8547.png","name":"8547"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9389.png","name":"9389"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1315.png","name":"1315"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":801.8465397660665,"rotation_z_degrees":199.6478178213053,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012184593496014324,0.0139112207960965,0.01317518741917614]},{"name":"camera_2","offset_m":[-0.016414660820468767,0.004233616187471711,0.015932835935489508]},{"name":"camera_3","offset_m":[0.01100659598243834,0.006365082316175597,-0.017198617229536965]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014558106561675735,-0.0010551190543508903,-0.001398858111131324],"end_effector_yaw_offset_degrees":0.9175722441282528},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008543162163750502,0.0005242351091922252,-0.0006829274348255621],"end_effector_yaw_offset_degrees":-0.8062144434759624},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005121692225478109,-0.0010272794050150721,0.001454981310429195],"end_effector_yaw_offset_degrees":-0.5680919605370496}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004527562560177279,0.004708618380296699],"position_m":[0.21377243743982272,0.2719086183802967,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048989853942047095,0.004619485940558637],"position_m":[0.2229989853942047,-0.3507805140594414,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001523176126625522,-0.00043473695120399905],"position_m":[0.3182231761266255,-0.059634736951204,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008097324571087854,-0.002195616072561717],"position_m":[0.3556902675428912,0.16370438392743827,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"df428d9af636e473bcdc3efe3b3185db39b95adccd69e7853d472e88e92f7e3d","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0069.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4388/tex_ceiling_textures_1315/tex_floor_textures_9389/tex_table_textures_5816/tex_wall_textures_8547","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8657021079614325166,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8657021079614325166,"visual_seed":8657021079614325166,"scene_id":"lab_003","finished_at":"2026-09-04T19:11:46"} +{"episode_id":"ep_000070","started_at":"2026-09-04T19:11:49","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.18778461957333914,0.1552321163052648,0.71338606911949],"aabb_xy":[[-0.19186277748038885,0.15115113605700145],[-0.18370646166628937,0.15931309655352807]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.5744877136307036,-0.5018967716638105,0.71338606911949],"aabb_xy":[[-0.6244877130708992,-0.5518646961481268],[-0.524487714190508,-0.4519288471794942]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.10234254778465535,0.9007839960633315,0.71338606911949],"aabb_xy":[[0.09430621308337049,0.8927458767589146],[0.11037888248594017,0.9088221153677482]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[0.4952493838391341,-0.07542650746805224,0.71338606911949],"aabb_xy":[[0.4818028572050907,-0.08889635912114346],[0.5086959104731774,-0.061956655814961015]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.5682489487158104,0.8617052052862206,0.71338606911949],"aabb_xy":[[-0.5857489479938973,0.8443671052198746],[-0.5507489494377236,0.8790433053525665]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.15559137784360866,-1.5397762872236438,0.71338606911949],"aabb_xy":[[0.13848929988524053,-1.5568830927549135],[0.17269345580197684,-1.522669481692374]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.5742355926229741,-1.0902552034985789,0.71338606911949],"aabb_xy":[[0.5289569777418248,-1.1542552028467623],[0.6195142075041233,-1.026255204150395]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.38147129856085915,0.2968760468046403,0.71338606911949],"aabb_xy":[[-0.41186940966000274,0.26646914480297074],[-0.35107318746171556,0.32728294880630976]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.23027154655476278,-1.4994807686514444,0.71338606911949],"aabb_xy":[[0.22656828522562394,-1.503182786960162],[0.23397480788390168,-1.4957787503427264]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[0.34273076446004436,-2.0433972675247283,0.71338606911949],"aabb_xy":[[0.26273076647925925,-2.0509988084865802],[0.42273076244082936,-2.0357957265628763]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[0.657002282560861,1.0317310653437408,0.71338606911949],"aabb_xy":[[0.6443754952736647,1.0221849916421677],[0.6696290698480574,1.0412771390453135]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[0.03799519547044439,-1.6100222028964661,0.71338606911949],"aabb_xy":[[0.03265761980443982,-1.6350222038256061],[0.043332771136448955,-1.5850222019673266]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[-0.2787890206383168,0.8860159153606957,0.71338606911949],"aabb_xy":[[-0.2903580013852534,0.8610159152437642],[-0.26722003989138027,0.9110159154776276]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.691272476317873,1.676679930703877,0.71338606911949],"aabb_xy":[[0.6687724760743576,1.6644752960441052],[0.7137724765613884,1.688884565363649]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.04006933045354677,0.935457767469277,0.71338606911949],"aabb_xy":[[0.029501850795447752,0.9249127373562683],[0.05063681011164577,0.9460027975822854]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[-0.6097073872757105,1.109741879651315,0.71338606911949],"aabb_xy":[[-0.6510119303394465,1.045741880083198],[-0.5684028442119745,1.173741879219432]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.589446147488183,-2.100286766752315,0.71338606911949],"aabb_xy":[[-0.6544461475224856,-2.146987443432643],[-0.5244461474538802,-2.0535860900719882]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.41221593857950317,-0.7307950162137484,0.71338606911949],"aabb_xy":[[-0.43410568616844397,-0.8207950135029974],[-0.39032619099056237,-0.6407950189244992]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.5654951884139634,-0.6932764640231421,0.71338606911949],"aabb_xy":[[-0.602529297842023,-0.7276536713568514],[-0.5284610789859036,-0.6588992566894326]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.6232964133893537,-0.950888367441924,0.71338606911949],"aabb_xy":[[-0.6324562923332303,-0.9574195854854609],[-0.6141365344454771,-0.9443571493983868]]}],"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":0.650870645710658,"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/4993.png","name":"4993"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4993.png","name":"4993"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8115.png","name":"8115"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1737.png","name":"1737"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6844.png","name":"6844"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9300.png","name":"9300"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":580.4806175005248,"rotation_z_degrees":175.79969772109308,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006431402941140276,0.014675444638251742,-0.016299443826076458]},{"name":"camera_2","offset_m":[0.00570049722592025,-0.014898527897693664,0.010058088453743688]},{"name":"camera_3","offset_m":[0.0056188725110455015,0.015222039066839669,-0.012445370210536759]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016985831347501425,-0.0016387750995004277,-0.0005206920090363759],"end_effector_yaw_offset_degrees":0.09627837413756835},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005301975702014241,-0.0014414876164292113,0.00022038391545501973],"end_effector_yaw_offset_degrees":0.8142279642232781},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003927292072764823,0.0006180000816739632,-0.0012466949323740484],"end_effector_yaw_offset_degrees":0.47384057577465244}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013872778674110433,0.0035065411870341097],"position_m":[0.21691272213258894,0.2707065411870341,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022180414790146817,-0.002877058859055307],"position_m":[0.22031804147901468,-0.3582770588590553,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021374526734171807,-0.0007331196172319478],"position_m":[0.3145625473265828,-0.05993311961723195,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016566906637833037,-0.0019444625769901047],"position_m":[0.35484330933621666,0.1639555374230099,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"308defd9a73cc475d6b196488ca1fac5bd84c1e259031357a0ca98a78f96e24d","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4993/tex_ceiling_textures_9300/tex_floor_textures_6844/tex_table_textures_8115/tex_wall_textures_1737","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3465230002564007914,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3465230002564007914,"visual_seed":3465230002564007914,"scene_id":"lab_003","finished_at":"2026-09-04T19:14:49"} +{"episode_id":"ep_000071","started_at":"2026-09-04T19:14:52","dimensions":{"distractor":{"count":26,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[0.30564925845320334,1.055904081506608,0.71338606911949],"aabb_xy":[[0.22192703295312088,0.9659040779719121],[0.3893714839532858,1.145904085041304]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.400381729218894,0.39338667557069273,0.71338606911949],"aabb_xy":[[-0.4643817294793648,0.3483778762177647],[-0.33638172895842317,0.43839547492362074]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[-0.4248409212490175,0.7186911468585411,0.71338606911949],"aabb_xy":[[-0.43080746018975324,0.712730002199177],[-0.41887438230828167,0.7246522915179051]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[0.5321055846590257,1.3326329704902813,0.71338606911949],"aabb_xy":[[0.49460558386703024,1.326265129532091],[0.5696055854510211,1.3390008114484715]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[0.6310931389489647,-0.20224337258414504,0.71338606911949],"aabb_xy":[[0.5935931390051983,-0.2105364626189816],[0.6685931388927311,-0.19395028254930843]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.051077744921255164,-1.7782172047486327,0.71338606911949],"aabb_xy":[[0.009828933891340421,-1.8332172042608499],[0.09232655595116987,-1.723217205236415]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.5909480246123673,-1.405368192173933,0.71338606911949],"aabb_xy":[[-0.6138637374974172,-1.4282724893103567],[-0.5680323117273174,-1.3824638950375097]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[-0.3551883212165165,-1.0625050223989243,0.71338606911949],"aabb_xy":[[-0.425188323025262,-1.0838587911631117],[-0.2851883194077711,-1.041151253634737]]},{"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_8","position":[-0.13893366401041796,0.06510908077472966,0.71338606911949],"aabb_xy":[[-0.16892532674428826,0.035109081437929124],[-0.1089420012765476,0.09510908011153019]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.6170242931590675,-2.028971625158092,0.71338606911949],"aabb_xy":[[-0.6456736255194837,-2.0576171844351676],[-0.5883749607986513,-2.000326065881016]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[-0.5447434981764294,1.4499676517275133,0.71338606911949],"aabb_xy":[[-0.5947366102856214,1.3999676510533177],[-0.49475038606723765,1.499967652401709]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.06804526867509397,-1.1501213247565825,0.71338606911949],"aabb_xy":[[0.044763426476962624,-1.2351213260538103],[0.0913271108732253,-1.0651213234593542]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.4891218366359289,-2.0919629510883078,0.71338606911949],"aabb_xy":[[0.4716218375015616,-2.1018425781258956],[0.5066218357702958,-2.08208332405072]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[-0.29468779720786775,0.6504504550987913,0.71338606911949],"aabb_xy":[[-0.3746877976780837,0.642139747484443],[-0.21468779673765181,0.6587611627131398]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.2033055916449767,-0.5514876770869215,0.71338606911949],"aabb_xy":[[-0.2157729497547124,-0.563953001720245],[-0.1908382335352411,-0.539022352453598]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[0.5951341782411783,-0.33867439730669346,0.71338606911949],"aabb_xy":[[0.5847226195606945,-0.34402013064259196],[0.6055457369216619,-0.33332866397079497]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.08551439879183176,-0.16978124173978726,0.71338606911949],"aabb_xy":[[-0.14951439808599998,-0.23376738210864148],[-0.02151439949766354,-0.10579510137093309]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.007351649635784496,-0.6363405658346053,0.71338606911949],"aabb_xy":[[-0.044851649741377446,-0.6431627276875863],[0.030148350469808457,-0.6295184039816241]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.31421745598704254,-1.61399952073291,0.71338606911949],"aabb_xy":[[0.31077677974698537,-1.617860953707275],[0.3176581322270997,-1.610138087758546]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.5280334304620786,0.09410169015014569,0.71338606911949],"aabb_xy":[[0.46403342724344065,0.04737857825113734],[0.5920334336807164,0.14082480204915404]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.48619968131480074,-0.21224211425427963,0.71338606911949],"aabb_xy":[[-0.5039931882497171,-0.2300418598500773],[-0.46840617437988424,-0.19444236865848197]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.18797013861615153,-1.226436254688343,0.71338606911949],"aabb_xy":[[-0.25197014002414214,-1.2782252062122677],[-0.12397013720816084,-1.1746473031644182]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[-0.6593378446119511,-2.501014165105142,0.71338606911949],"aabb_xy":[[-0.6943378437419068,-2.506759386180806],[-0.6243378454819954,-2.495268944029478]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[0.46835752482763926,0.7928074711860624,0.71338606911949],"aabb_xy":[[0.4183575238771064,0.761258324182541],[0.5183575257781721,0.8243566181895838]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[-0.6029438431560428,1.2448487033338385,0.71338606911949],"aabb_xy":[[-0.6196209791491383,1.228148779359908],[-0.5862667071629473,1.2615486273077685]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.002950577656279596,1.2576808354084466,0.71338606911949],"aabb_xy":[[-0.0010099061134547782,1.2500129708229257],[0.00691106142601397,1.265348699993967]]}],"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":0.6503722801199533,"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/7655.png","name":"7655"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7655.png","name":"7655"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7401.png","name":"7401"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2630.png","name":"2630"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3528.png","name":"3528"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9287.png","name":"9287"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":659.7892239625058,"rotation_z_degrees":204.16828385756526,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011403788616207982,-0.011613579463515164,-0.012976786787988505]},{"name":"camera_2","offset_m":[-0.01805034691758147,0.01189079581907029,0.015035732170417811]},{"name":"camera_3","offset_m":[0.013324569469157128,0.013427639802253987,-0.014684387625127223]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.52148668763482e-06,0.0011492484948220413,-0.0010620872861828814],"end_effector_yaw_offset_degrees":-0.03807269995627349},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008368544949447442,0.00114517145655564,0.00026737391466384423],"end_effector_yaw_offset_degrees":-0.30925180332078805},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001334593897740541,-0.0014930426618935322,0.0012513269968104646],"end_effector_yaw_offset_degrees":-0.5532264680407977}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006226890405931747,0.0030871004054877976],"position_m":[0.21892268904059317,0.2702871004054878,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011618003097428886,-0.0035717477023190338],"position_m":[0.21926180030974288,-0.35897174770231904,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00043612628122721275,-0.002494796393027834],"position_m":[0.3162638737187728,-0.061694796393027836,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004626070505052687,-0.00037816177544764285],"position_m":[0.3518739294949473,0.16552183822455235,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"23671a0ae8a5b8ffbb67d88394b0bc7a8d6af7f65fe527f792566a334f36c756","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7655/tex_ceiling_textures_9287/tex_floor_textures_3528/tex_table_textures_7401/tex_wall_textures_2630","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":799009063616414518,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":799009063616414518,"visual_seed":799009063616414518,"scene_id":"lab_003","finished_at":"2026-09-04T19:17:45"} +{"episode_id":"ep_000072","started_at":"2026-09-04T19:17:49","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[0.3346961179661161,1.6741943771314465,0.71338606911949],"aabb_xy":[[0.32146517243143474,1.6609669581094468],[0.34792706350079733,1.6874217961534457]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[0.5912841579719954,-0.21474011038031238,0.71338606911949],"aabb_xy":[[0.5859516433173823,-0.22006443862554798],[0.5966166726266083,-0.20941578213507678]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[0.01565822898389113,1.0578453112401975,0.71338606911949],"aabb_xy":[[-0.04834177335891043,1.0129044599960648],[0.07965823132669268,1.1027861624843298]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[0.6592793995442743,-0.9892682667280548,0.71338606911949],"aabb_xy":[[0.6466526122570779,-0.9988143404296277],[0.6719061868314706,-0.9797221930264819]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.2072845854136024,-1.581781647168275,0.71338606911949],"aabb_xy":[[0.20320642750655266,-1.5858626274165384],[0.21136274332065214,-1.5777006669200118]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.05420692381909642,-1.4947127291465763,0.71338606911949],"aabb_xy":[[0.004390144354261653,-1.5447127276308794],[0.10402370328393118,-1.4447127306622727]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[-0.3271147068853977,0.6610968618513784,0.71338606911949],"aabb_xy":[[-0.37711470790453305,0.6246306461135505],[-0.27711470586626247,0.6975630775892063]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.47386167927434064,-0.6526976836540213,0.71338606911949],"aabb_xy":[[-0.496361679088243,-0.657172300024502],[-0.45136167946043826,-0.6482230672835405]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.38909731614919507,-0.5382562497305887,0.71338606911949],"aabb_xy":[[-0.41361094024620093,-0.5625208430326252],[-0.3645836920521892,-0.5139916564285523]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.5102014080938014,1.8107988196953042,0.71338606911949],"aabb_xy":[[-0.514115281289224,1.8020498042887472],[-0.5062875348983789,1.8195478351018608]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.26911771030137177,-1.7288607087037509,0.71338606911949],"aabb_xy":[[-0.28823001765935063,-1.7479954875809927],[-0.2500054029433929,-1.7097259298265086]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.6234570223370023,1.5783850895939815,0.71338606911949],"aabb_xy":[[-0.6734562975054386,1.5283850883180343],[-0.5734577471685662,1.6283850908699287]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[0.521019756944205,0.17917868047920216,0.71338606911949],"aabb_xy":[[0.4610197570976382,0.12236005828616345],[0.5810197567907718,0.2359973026722408]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[0.662780115883578,-2.465507380421027,0.71338606911949],"aabb_xy":[[0.6512111351366415,-2.490507380537959],[0.6743490966305147,-2.4405073803040955]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[-0.4548300590687224,0.9702750106406932,0.71338606911949],"aabb_xy":[[-0.5348300560829704,0.9501404589672817],[-0.37483006205447444,0.9904095623141043]]},{"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_15","position":[0.029396908079663553,1.6639468738687015,0.71338606911949],"aabb_xy":[[-0.000594754654206775,1.633946874531901],[0.05938857081353388,1.693946873205502]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[-0.5422163158081502,1.3479140790158635,0.71338606911949],"aabb_xy":[[-0.5611006995766604,1.3290281542355107],[-0.52333193203964,1.3668000037962162]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.3567217714092106,0.9864947164481608,0.71338606911949],"aabb_xy":[[0.3493093158678221,0.9806435060265328],[0.36413422695059905,0.9923459268697887]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.06561952177544716,1.2965609052389397,0.71338606911949],"aabb_xy":[[-0.1155928157787076,1.2465609046843924],[-0.015646227772186702,1.346560905793487]]},{"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_19","position":[0.2085547633340622,-2.4644309419633887,0.71338606911949],"aabb_xy":[[0.20246013544594385,-2.4730003365150575],[0.2146493912221805,-2.45586154741172]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.6023272160904498,-1.087299391332325,0.71338606911949],"aabb_xy":[[-0.6518076373044087,-1.1512993892451768],[-0.5528467948764911,-1.0232993934194732]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[-0.5982853410949104,1.1673663700914942,0.71338606911949],"aabb_xy":[[-0.6393032844812813,1.117366369460537],[-0.5572673977085395,1.2173663707224516]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[0.47913257841565904,1.1397080569263465,0.71338606911949],"aabb_xy":[[0.4141325773097158,1.1147426838582182],[0.5441325795216023,1.1646734299944748]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[0.09401786352377728,-1.1542245296286657,0.71338606911949],"aabb_xy":[[0.07152144208991318,-1.1767245294354132],[0.11651428495764138,-1.1317245298219183]]},{"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_24","position":[-0.17806067657436464,-0.9331621426350969,0.71338606911949],"aabb_xy":[[-0.19592978432882013,-0.9469950506123078],[-0.16019156881990915,-0.919329234657886]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.0025012631981745637,0.7918132232594077,0.71338606911949],"aabb_xy":[[-0.05250126485966932,0.741814781003705],[0.04749873846332019,0.8418116655151104]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[-0.35300741569384364,1.605098546507992,0.71338606911949],"aabb_xy":[[-0.36004886664459124,1.5980717947701977],[-0.34596596474309604,1.6121252982457865]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[0.22186820076893332,-0.54822810044165,0.71338606911949],"aabb_xy":[[0.1718893922586174,-0.5982281004473688],[0.2718470092792492,-0.49822810043593124]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_28","position":[-0.3555269751511627,-2.108088028069556,0.71338606911949],"aabb_xy":[[-0.4355269725547561,-2.188080599267739],[-0.27552697774756923,-2.028095456871373]]}],"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":0.6483779110347735,"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/4461.png","name":"4461"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4461.png","name":"4461"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3413.png","name":"3413"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4173.png","name":"4173"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3526.png","name":"3526"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9841.png","name":"9841"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":728.2680580677879,"rotation_z_degrees":121.86431228122171,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019148036359673628,0.01759410524938743,0.008932410342571653]},{"name":"camera_2","offset_m":[-0.007613792835288655,0.016757660020485895,0.01925172241945691]},{"name":"camera_3","offset_m":[0.01980963817754301,0.008056590375819045,-0.0007301708082281741]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013864259657562477,0.0012588689380376946,-0.0003875913524252464],"end_effector_yaw_offset_degrees":0.8133328075949364},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00041447522280530034,0.0005091694309651701,0.0004415181174235224],"end_effector_yaw_offset_degrees":0.7987048656762279},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00048791532567392035,-0.0012794531112054668,-0.000799640275673335],"end_effector_yaw_offset_degrees":-0.6943822240719997}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0034828778042973125,0.003968517016112003],"position_m":[0.2217828778042973,0.271168517016112,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012417398862094786,0.00017630436482390845],"position_m":[0.21934173988620947,-0.3552236956351761,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026821039339219375,-0.0037220780872683646],"position_m":[0.31401789606607805,-0.06292207808726837,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00435287365860022,-0.0010250939422965632],"position_m":[0.3521471263413998,0.16487490605770344,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"54f379584791caba65233673659ca39eba72bc89da7032a793b198f6ad8895a8","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4461/tex_ceiling_textures_9841/tex_floor_textures_3526/tex_table_textures_3413/tex_wall_textures_4173","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2848664496070311390,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2848664496070311390,"visual_seed":2848664496070311390,"scene_id":"lab_003","finished_at":"2026-09-04T19:20:49"} +{"episode_id":"ep_000073","started_at":"2026-09-04T19:20:52","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.017128679503461308,1.5812112956054674,0.71338606911949],"aabb_xy":[[-0.03601306327197151,1.5623253708251146],[0.0017557042650488963,1.6000972203858201]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[0.012445605556669515,-1.9854682366896312,0.71338606911949],"aabb_xy":[[-0.047554395039346664,-2.040280709234855],[0.0724456061526857,-1.9306557641444078]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.3366292638917451,0.5054632296067378,0.71338606911949],"aabb_xy":[[-0.34208720952876515,0.42546322629907873],[-0.331171318254725,0.585463232914397]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[0.4772540094553832,0.6702174542348049,0.71338606911949],"aabb_xy":[[0.41566325023139045,0.6062174561257581],[0.538844768679376,0.7342174523438518]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.5851643470295812,0.3179705839923188,0.71338606911949],"aabb_xy":[[-0.6226643482143739,0.3135523612962582],[-0.5476643458447883,0.3223888066883792]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[-0.6440604067918767,0.6138574774869601,0.71338606911949],"aabb_xy":[[-0.6591627082528947,0.598755955855898],[-0.6289581053308585,0.6289589991180217]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.2783890738728531,-0.14263299866945145,0.71338606911949],"aabb_xy":[[-0.303389073805371,-0.14951566689037477],[-0.2533890739403352,-0.13575033044852813]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[-0.5549493159028455,-2.538921962738579,0.71338606911949],"aabb_xy":[[-0.5589097996725799,-2.5465898273240994],[-0.5509888321331112,-2.5312540981530582]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_8","position":[0.58198629848551,-2.021940405495178,0.71338606911949],"aabb_xy":[[0.5725688239156472,-2.031356582632897],[0.5914037730553727,-2.012524228357459]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.16410654682478143,0.04909817977075415,0.71338606911949],"aabb_xy":[[-0.18657131679618652,0.026598178891893642],[-0.14164177685337628,0.07159818064961465]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.4795386156566447,0.798099370051315,0.71338606911949],"aabb_xy":[[-0.5345386152783905,0.7431156772638425],[-0.42453861603489884,0.853083062838788]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.07645924949164962,-0.2370701434537179,0.71338606911949],"aabb_xy":[[-0.1259396707056084,-0.30107014136656973],[-0.02697882827769084,-0.17307014554086608]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[-0.6398369883337165,-1.7393159565749368,0.71338606911949],"aabb_xy":[[-0.6514059690806531,-1.7643159566918687],[-0.6282680075867799,-1.7143159564580053]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[0.5345003114411644,-1.5619469298301738,0.71338606911949],"aabb_xy":[[0.49700031301776393,-1.575111143798004],[0.5720003098645646,-1.548782715862343]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[-0.5902400585753196,0.785571152000692,0.71338606911949],"aabb_xy":[[-0.5955725732299326,0.7802468237554565],[-0.5849075439207065,0.7908954802459276]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[0.1860707681325765,-1.157538801704875,0.71338606911949],"aabb_xy":[[0.1788095205621691,-1.1703258119683846],[0.19333201570298392,-1.1447517914413656]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.04075570253022065,-0.7178742265006264,0.71338606911949],"aabb_xy":[[-0.07507197970483859,-0.767874226473804],[-0.0064394253556027126,-0.6678742265274485]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[0.46951531179642836,0.8036136252750445,0.71338606911949],"aabb_xy":[[0.4520153783624449,0.7861136253548099],[0.4870152452304116,0.821113625195279]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.6660951900489618,-1.153890974076531,0.71338606911949],"aabb_xy":[[0.6590548801154248,-1.2338909734762027],[0.6731354999824988,-1.07389097467686]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[-0.13779063742789288,1.441117539191541,0.71338606911949],"aabb_xy":[[-0.20279064006568637,1.389637940492094],[-0.0727906347900994,1.492597137890988]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.6762664136327126,0.263099618215374,0.71338606911949],"aabb_xy":[[0.6680518685170285,0.25442302791773264],[0.6844809587483964,0.2717762085130152]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[0.48515470969120544,-0.7954468714243823,0.71338606911949],"aabb_xy":[[0.4201547086907049,-0.8462332365790574],[0.550154710691706,-0.7446605062697075]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_22","position":[-0.5069798380875784,-1.766084341686315,0.71338606911949],"aabb_xy":[[-0.5769798398963238,-1.7874381104505026],[-0.43697983627883297,-1.7447305729221279]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[-0.44560603752236805,-0.32579793021875325,0.71338606911949],"aabb_xy":[[-0.49558345438762164,-0.3757979317080018],[-0.39562862065711446,-0.2757979287295047]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[-0.2440153719984458,-1.9026662387111837,0.71338606911949],"aabb_xy":[[-0.2616910025870441,-1.9203464549905864],[-0.22633974140984744,-1.884986022431781]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[-0.44198833947342486,1.5395873442689285,0.71338606911949],"aabb_xy":[[-0.5219821630519831,1.4595873416760872],[-0.36199451589486664,1.6195873468617703]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[0.06483213479589911,-1.6592742025624436,0.71338606911949],"aabb_xy":[[0.004832134949332323,-1.7160928247554823],[0.1248321346424659,-1.602455580369405]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[0.1704844637057974,-1.8151163708223095,0.71338606911949],"aabb_xy":[[0.15531229442416408,-1.830285227750513],[0.18565663298743076,-1.7999475138941063]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[0.418325350331604,-1.5839698544871714,0.71338606911949],"aabb_xy":[[0.3814748023946164,-1.6214698553102052],[0.4551758982685916,-1.5464698536641377]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_29","position":[0.28918620578398624,-0.8645340380926116,0.71338606911949],"aabb_xy":[[0.2827723921408013,-0.8709438583402799],[0.2956000194271712,-0.8581242178449432]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_30","position":[-0.21865964281055883,1.1362966748306476,0.71338606911949],"aabb_xy":[[-0.24117333463401602,1.0662966742296398],[-0.19614595098710164,1.2062966754316549]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_31","position":[-0.01928931000292977,0.638709644149825,0.71338606911949],"aabb_xy":[[-0.08328930730527617,0.5943432171819681],[0.04471068729941663,0.6830760711176816]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_32","position":[-0.30083856584504837,1.349702565775753,0.71338606911949],"aabb_xy":[[-0.3508228015532256,1.2997025669622575],[-0.25085433013687114,1.3997025645892487]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_33","position":[0.38240607339859056,1.4284719125917085,0.71338606911949],"aabb_xy":[[0.30240607232547023,1.4186938662543243],[0.4624060744717109,1.4382499589290931]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_34","position":[-0.595968642941755,-0.8374172881177533,0.71338606911949],"aabb_xy":[[-0.6079013773035831,-0.8497994409256128],[-0.5840359085799269,-0.825035135309894]]}],"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":0.6484069743967664,"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/2153.png","name":"2153"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2153.png","name":"2153"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8815.png","name":"8815"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9977.png","name":"9977"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2640.png","name":"2640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3027.png","name":"3027"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":771.0095586712405,"rotation_z_degrees":302.22255650483083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009953766655179028,0.001274974483612419,-0.011354761784332647]},{"name":"camera_2","offset_m":[0.01651358227845164,-0.0020016407927308903,-0.0035880921979284525]},{"name":"camera_3","offset_m":[0.005351041834744302,-0.019633215739493566,0.014799974088623661]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006443740295353222,0.00032299876417490707,0.00024646524134396],"end_effector_yaw_offset_degrees":0.23482325713049645},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003609667738945976,0.0016934778830159734,-0.00020675756567240726],"end_effector_yaw_offset_degrees":0.9377991417271976},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001538069063155333,-0.0017173620987157438,-0.0014925789103418152],"end_effector_yaw_offset_degrees":-0.09722924858547222}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002970143811175844,-0.004990180847834653],"position_m":[0.22127014381117585,0.26220981915216535,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037935086549292186,0.0045975966896375205],"position_m":[0.2218935086549292,-0.3508024033103625,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009620807656007656,-0.0025418007025345968],"position_m":[0.3157379192343992,-0.0617418007025346,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010518835341225006,-0.0027735936356675186],"position_m":[0.3575518835341225,0.16312640636433248,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5b868e961184440a11e66ff689c843448ce01c4f736ce6d8042a135651d58d64","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0073.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2153/tex_ceiling_textures_3027/tex_floor_textures_2640/tex_table_textures_8815/tex_wall_textures_9977","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7991156983844013017,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7991156983844013017,"visual_seed":7991156983844013017,"scene_id":"lab_003","finished_at":"2026-09-04T19:23:50"} +{"episode_id":"ep_000074","started_at":"2026-09-04T19:23:54","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.042075742234292224,-0.875917759759069,0.71338606911949],"aabb_xy":[[0.013746032285751997,-0.8803785019527862],[0.07040545218283245,-0.8714570175653521]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.05817767425703102,-1.6143859011663924,0.71338606911949],"aabb_xy":[[-0.13817767568715822,-1.6939030561790018],[0.02182232717309618,-1.5348687461537829]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[0.4765512947466364,-2.329301337079745,0.71338606911949],"aabb_xy":[[0.47241543841393624,-2.366801336524102],[0.4806871510793366,-2.291801337635388]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[0.24003512251008285,0.9135070777537386,0.71338606911949],"aabb_xy":[[0.16003511925223987,0.8335105699617547],[0.3200351257679258,0.9935035855457226]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[-0.09403334214253567,-0.9172804550305196,0.71338606911949],"aabb_xy":[[-0.1440333435034229,-0.967258359605935],[-0.04403334078164845,-0.8673025504551037]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[0.6214535805761856,-1.8067387550542477,0.71338606911949],"aabb_xy":[[0.5839535802840107,-1.8107802304548513],[0.6589535808683603,-1.8026972796536442]]},{"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_6","position":[-0.5048323745142164,0.9057311445546796,0.71338606911949],"aabb_xy":[[-0.5348240372480866,0.8757311452178791],[-0.4748407117803459,0.9357311438914802]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.30292188945966925,-0.5518701624627842,0.71338606911949],"aabb_xy":[[0.29276887390551976,-0.5879397040355243],[0.3130749050138185,-0.5158006208900436]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[0.25671347324392035,-1.161371784217135,0.71338606911949],"aabb_xy":[[0.25138095858930737,-1.1666961124623705],[0.26204598789853334,-1.1560474559718994]]},{"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_9","position":[-0.34511644927982854,-1.9463430716650905,0.71338606911949],"aabb_xy":[[-0.3538144115705439,-1.9584680459725652],[-0.3364184869891133,-1.9342180973576157]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[-0.22132565123760223,-2.112629162343507,0.71338606911949],"aabb_xy":[[-0.2635100653984329,-2.1766291626207184],[-0.17914123707677146,-2.048629162066296]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[-0.13984008473079024,-0.3357597512265533,0.71338606911949],"aabb_xy":[[-0.15040756438888925,-0.34630478133956183],[-0.12927260507269123,-0.3252147211135447]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[-0.43494091130876755,-1.93066099404483,0.71338606911949],"aabb_xy":[[-0.4429671819393936,-1.9394124890221829],[-0.4269146406781416,-1.9219094990674777]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[-0.56793774567979,0.6794124999493993,0.71338606911949],"aabb_xy":[[-0.6319334430748865,0.6154125016486905],[-0.5039420482846934,0.7434124982501079]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.33116679565439666,1.8200390694685384,0.71338606911949],"aabb_xy":[[0.3199217400837788,1.8087972717444432],[0.3424118512250145,1.8312808671926337]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[-0.29200834819932703,1.15783704342887,0.71338606911949],"aabb_xy":[[-0.34200318112726863,1.1078370445336265],[-0.24201351527138543,1.2078370423241136]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.5741548295355622,1.2424495739609553,0.71338606911949],"aabb_xy":[[-0.6114861060608048,1.207796519166103],[-0.5368235530103196,1.2771026287558076]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[-0.3053911407279991,-0.5007309228450527,0.71338606911949],"aabb_xy":[[-0.34039113903869456,-0.5084459377685984],[-0.27039114241730366,-0.49301590792150707]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[0.21108706998360127,-0.6765138047976544,0.71338606911949],"aabb_xy":[[0.17358706931902257,-0.6922008627978766],[0.24858707064817998,-0.6608267467974323]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[0.33119170695076305,1.37010159987596,0.71338606911949],"aabb_xy":[[0.2968754297761451,1.3201015999027823],[0.365507984125381,1.4201015998491378]]}],"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":0.6482927892595877,"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/9664.png","name":"9664"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9664.png","name":"9664"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/414.png","name":"414"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2546.png","name":"2546"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9896.png","name":"9896"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5756.png","name":"5756"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":772.785913731622,"rotation_z_degrees":148.4620676247707,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004933894485409006,-0.012621100911456896,-0.019620078863515175]},{"name":"camera_2","offset_m":[-0.013012108392563816,0.0016408618712333255,0.005818218357364048]},{"name":"camera_3","offset_m":[0.011706973979890383,0.013812737504442767,-0.003263955048908182]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019703632461180193,0.0007276015651153916,-0.0015998426182142048],"end_effector_yaw_offset_degrees":0.7454933525856922},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008533105820231904,-8.481363110817678e-05,0.0014612447810660538],"end_effector_yaw_offset_degrees":0.4486898526148475},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009308566307516472,0.000392251870195235,0.0001860920899817444],"end_effector_yaw_offset_degrees":-0.405833734990384}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00021808254578584065,-0.004138441955755062],"position_m":[0.21851808254578584,0.2630615580442449,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003198729945951876,0.003339278598680777],"position_m":[0.22129872994595187,-0.3520607214013192,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003046451661658828,-0.00040992154273744065],"position_m":[0.31365354833834114,-0.05960992154273744,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001574527666990867,-0.0012182776553350595],"position_m":[0.35492547233300914,0.16468172234466494,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7db64073573fefe305094d276614d9a09b39323981851ed78b41660489d16cef","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9664/tex_ceiling_textures_5756/tex_floor_textures_9896/tex_table_textures_414/tex_wall_textures_2546","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7944452075579192304,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7944452075579192304,"visual_seed":7944452075579192304,"scene_id":"lab_003","finished_at":"2026-09-04T19:26:44"} +{"episode_id":"ep_000075","started_at":"2026-09-04T19:26:48","dimensions":{"distractor":{"count":30,"items":[{"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_0","position":[-0.06454003970846445,1.6982759198797894,0.71338606911949],"aabb_xy":[[-0.10045354413345411,1.662362411663035],[-0.028626535283474752,1.734189428096544]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.5100904737776926,-0.8403431715627969,0.71338606911949],"aabb_xy":[[0.4725904753542921,-0.8535073855306275],[0.5475904722010928,-0.8271789575949663]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.6000063553666368,1.4703945438598756,0.71338606911949],"aabb_xy":[[0.5655440079684948,1.4359006614620524],[0.6344687027647784,1.5048884262576978]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[-0.2751085739237951,-0.16225646587160236,0.71338606911949],"aabb_xy":[[-0.2838225429737295,-0.18475646653079053],[-0.2663946048738605,-0.13975646521241408]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[-0.06404011807082621,0.38843477116149794,0.71338606911949],"aabb_xy":[[-0.07412182514939968,0.3084347732693833],[-0.05395841099225272,0.4684347690536126]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.5378411056553152,1.059884969526807,0.71338606911949],"aabb_xy":[[0.5003411057115487,1.0515918794919705],[0.5753411055990815,1.0681780595616437]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[-0.5841782214761364,-1.919602542272287,0.71338606911949],"aabb_xy":[[-0.5992805229371543,-1.9347040639033486],[-0.5690759200151181,-1.9045010206412252]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[-0.1261608949274282,-2.4464920966398984,0.71338606911949],"aabb_xy":[[-0.17614513063560544,-2.4964920954533936],[-0.07617665921925099,-2.3964920978264024]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.2708383679033286,-1.3517343650645843,0.71338606911949],"aabb_xy":[[-0.350838365306922,-1.431726936262767],[-0.19083837049973515,-1.2717417938664013]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.09278344510139924,0.7865842530839604,0.71338606911949],"aabb_xy":[[0.03778344592480974,0.7315945783090027],[0.14778344427798873,0.8415739278589179]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[-0.5991453743190831,-1.4701364988675454,0.71338606911949],"aabb_xy":[[-0.6054574738554215,-1.4759034381207643],[-0.5928332747827447,-1.4643695596143265]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[0.43473343167911627,0.752707100462656,0.71338606911949],"aabb_xy":[[0.3747334310831001,0.6978946279174326],[0.49473343227513245,0.8075195730078796]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.5680602133673631,-0.07703693319101212,0.71338606911949],"aabb_xy":[[-0.5812114593386525,-0.1020369329476987],[-0.5549089673960738,-0.0520369334343256]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.02022477654378707,-2.080273959180801,0.71338606911949],"aabb_xy":[[-0.07022477749431988,-2.111823106184322],[0.029775224406745737,-2.048724812177279]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[-0.6485492550228897,-2.471927140270708,0.71338606911949],"aabb_xy":[[-0.6559617105642781,-2.477778350692336],[-0.6411367994815012,-2.46607592984908]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.3207272405504753,1.0397467351924643,0.71338606911949],"aabb_xy":[[0.27073240762253376,0.989746736297221],[0.37072207347841696,1.089746734087708]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.3662573976242021,1.6792619024078985,0.71338606911949],"aabb_xy":[[-0.4462573980944181,1.670951194793551],[-0.2862573971539862,1.6875726100222475]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[0.6342023679056237,-0.9676211023782657,0.71338606911949],"aabb_xy":[[0.5692023669484966,-1.019569314311971],[0.699202368862751,-0.91567289044456]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.4811916307903734,-0.5646108814761512,0.71338606911949],"aabb_xy":[[-0.5361871086110328,-0.6196108829100581],[-0.42619615296971397,-0.5096108800422442]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[0.12513357615776732,1.2417268689706327,0.71338606911949],"aabb_xy":[[0.0451397525792091,1.161726866377791],[0.20512739973632554,1.3217268715634742]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.6459790549631687,-2.1163025415402363,0.71338606911949],"aabb_xy":[[-0.6759466118729942,-2.1463025418381223],[-0.6160114980533429,-2.0863025412423504]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[0.3685990694704411,-0.6784485909824469,0.71338606911949],"aabb_xy":[[0.35918159490057827,-0.6878647681201658],[0.37801654404030377,-0.6690324138447278]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[0.5144881024078347,-2.073185209446603,0.71338606911949],"aabb_xy":[[0.47948810409713916,-2.0809002243701484],[0.54948810071853,-2.065470194523057]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.2868615294734385,1.1548335608125373,0.71338606911949],"aabb_xy":[[-0.31315035379387907,1.1285621271578858],[-0.26057270515299774,1.1811049944671883]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[0.24276214028654752,-2.100002241261509,0.71338606911949],"aabb_xy":[[0.22508650969794916,-2.1176824575409117],[0.2604377708751458,-2.082322024982106]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_25","position":[-0.08549610934210294,1.228482170304996,0.71338606911949],"aabb_xy":[[-0.1404961089638488,1.173498477517523],[-0.0304961097203571,1.2834658630924685]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[0.7047363539298239,-1.774775617370841,0.71338606911949],"aabb_xy":[[0.6918644504288837,-1.8547756177846773],[0.717608257430764,-1.694775616957005]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[0.15869440749949193,1.6685049410242798,0.71338606911949],"aabb_xy":[[0.15473392372975758,1.6608370764387594],[0.16265489126922633,1.6761728056098006]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_28","position":[-0.587146906725375,-0.8003337405316262,0.71338606911949],"aabb_xy":[[-0.6521469067596778,-0.8470344172119535],[-0.5221469066910723,-0.7536330638512989]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[0.40089701345537865,-0.3469697092996298,0.71338606911949],"aabb_xy":[[0.33589701245487813,-0.39775607445430466],[0.46589701445587917,-0.2961833441449548]]}],"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":0.6452054300639442,"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/6694.png","name":"6694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6694.png","name":"6694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3213.png","name":"3213"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7480.png","name":"7480"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7954.png","name":"7954"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4147.png","name":"4147"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":708.4608760950795,"rotation_z_degrees":258.94089193367427,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006768101046601888,-0.012641486856712562,-0.005398597109906186]},{"name":"camera_2","offset_m":[0.010239780133084096,0.019687483272516678,-0.009471884263909814]},{"name":"camera_3","offset_m":[0.014299029439206825,-0.006904385698952216,-0.01053361074886196]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013279180647689692,0.0019585090204892134,-0.0001490703795842378],"end_effector_yaw_offset_degrees":-0.9967803822197261},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009292648103338208,0.0017393300718425036,-0.0019349375702990713],"end_effector_yaw_offset_degrees":0.553892250838957},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00017921923803939765,-0.00048042684090470367,-0.00021535406589948494],"end_effector_yaw_offset_degrees":-0.8274541420913544}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003520502603564417,-0.0023602726203518633],"position_m":[0.21477949739643556,0.2648397273796481,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026911759781790513,0.002959282268369741],"position_m":[0.21540882402182093,-0.35244071773163027,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004226587024950264,0.0049478608772512795],"position_m":[0.32092658702495025,-0.054252139122748726,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037384494371337784,0.0027952422610681895],"position_m":[0.3527615505628662,0.1686952422610682,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3288bdb4ff72aa4454ee2419fbece967c406780896a78fcb590a7efd8c057c93","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6694/tex_ceiling_textures_4147/tex_floor_textures_7954/tex_table_textures_3213/tex_wall_textures_7480","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2551174375213951339,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2551174375213951339,"visual_seed":2551174375213951339,"scene_id":"lab_003","finished_at":"2026-09-04T19:29:48"} +{"episode_id":"ep_000076","started_at":"2026-09-04T19:29:52","dimensions":{"distractor":{"count":25,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[-0.03799826445188992,0.9065985054896575,0.71338606911949],"aabb_xy":[[-0.12172048995197238,0.8165985019549615],[0.04572396104819254,0.9965985090243534]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[-0.5419419913198853,1.3196065041732425,0.71338606911949],"aabb_xy":[[-0.6059419886222316,1.2752400772053858],[-0.4779419940175388,1.3639729311410993]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.06303722133348366,1.1965687551757451,0.71338606911949],"aabb_xy":[[-0.07496995569531173,1.1841866023678858],[-0.051104486971655594,1.2089509079836045]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.12235118540063716,-1.5976408668419397,0.71338606911949],"aabb_xy":[[0.1062892579421195,-1.6826408686545318],[0.13841311285915478,-1.5126408650293481]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[-0.6274746508046133,0.047105718770062754,0.71338606911949],"aabb_xy":[[-0.687474651665426,-0.004320711236423635],[-0.5674746499438004,0.09853214877654913]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.3409358790360393,1.6298066016717363,0.71338606911949],"aabb_xy":[[-0.40493588137884085,1.5848657504276036],[-0.2769358766932377,1.6747474529158686]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[-0.479998558568823,-0.9059683732771298,0.71338606911949],"aabb_xy":[[-0.4974985577031902,-0.9158480003147176],[-0.46249855943445584,-0.8960887462395419]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[0.5726453006049219,-0.14220178122461213,0.71338606911949],"aabb_xy":[[0.5226722350724066,-0.19220178103714508],[0.6226183661374375,-0.09220178141207926]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.09971942519818999,1.3744494315328963,0.71338606911949],"aabb_xy":[[-0.16371942159376307,1.3104861431141628],[-0.035719428802616915,1.43841271995163]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.39524750017753063,-0.4021419257458949,0.71338606911949],"aabb_xy":[[0.31524750301795523,-0.41368952670371184],[0.4752474973371058,-0.39059432478807776]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.003373877150002702,-1.3508012655701849,0.71338606911949],"aabb_xy":[[-0.03162612204281556,-1.3617683115678474],[0.03837387634282097,-1.339834219572522]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[0.43402738364217375,1.0635943496196991,0.71338606911949],"aabb_xy":[[0.42752574713416924,1.0538265275933896],[0.4405290201501785,1.0733621716460091]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[-0.41419416169809004,0.1279868679654408,0.71338606911949],"aabb_xy":[[-0.43177246388703683,0.11041237839133589],[-0.39661585950914313,0.1455613575395457]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[0.5095747563728197,-0.7601127691871783,0.71338606911949],"aabb_xy":[[0.5058714950436807,-0.7638147874958962],[0.5132780177019585,-0.7564107508784604]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.297097052820263,1.8188586187429387,0.71338606911949],"aabb_xy":[[-0.30053772906032017,1.8149971857685745],[-0.2936563765802058,1.8227200517173034]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.5461962803976377,-1.3065852389390482,0.71338606911949],"aabb_xy":[[0.5157120302706075,-1.3565852387205442],[0.5766805305246678,-1.2565852391575523]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[-0.02557468619810299,-1.6603653002216126,0.71338606911949],"aabb_xy":[[-0.053419722978710116,-1.6911497989599242],[0.0022703505825041326,-1.6295808014833009]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[-0.2591569713878538,-0.6490841321248919,0.71338606911949],"aabb_xy":[[-0.32415696926950166,-0.7002077958314328],[-0.1941569735062061,-0.597960468418351]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.5539748281197834,0.053648212359524994,0.71338606911949],"aabb_xy":[[0.5196585509451654,0.0036482123863472646],[0.5882911052944013,0.10364821233270272]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[0.25897846149465464,-1.4990616018603697,0.71338606911949],"aabb_xy":[[0.24230132550155914,-1.5157615258343],[0.27565559748775015,-1.4823616778864395]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.09913229271376356,-0.6236351335205537,0.71338606911949],"aabb_xy":[[0.04413229451201873,-0.6641571001469913],[0.1541322909155084,-0.5831131668941161]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[0.62885676574804,0.5981026559783622,0.71338606911949],"aabb_xy":[[0.5388567671535701,0.5818520696649412],[0.71885676434251,0.6143532422917832]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.3845840990036868,-0.3126548893442682,0.71338606911949],"aabb_xy":[[-0.39393110658598196,-0.3269585115619123],[-0.3752370914213915,-0.29835126712662424]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.2561337190927432,-0.5095684178154212,0.71338606911949],"aabb_xy":[[-0.27123602055376117,-0.5246699394464828],[-0.241031417631725,-0.4944668961843592]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[0.6377705118640775,-0.7957975836372213,0.71338606911949],"aabb_xy":[[0.5877705102025825,-0.8457960258929238],[0.6877705135255721,-0.7457991413815184]]}],"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":0.6503748010366064,"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/1575.png","name":"1575"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1575.png","name":"1575"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2823.png","name":"2823"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5084.png","name":"5084"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6525.png","name":"6525"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2944.png","name":"2944"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":659.341560638323,"rotation_z_degrees":319.50496641766335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019304360827521082,0.006796007239169743,-0.010635884031499763]},{"name":"camera_2","offset_m":[-0.009846574997515881,-0.013740642722717748,-0.01841638194213936]},{"name":"camera_3","offset_m":[0.005863525568834297,-0.007439598951320714,0.012450042674962632]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001225829491948039,0.0010089404910133973,0.0010980006543898613],"end_effector_yaw_offset_degrees":0.09098329810613048},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00043545771050480884,-0.0009602374166433609,0.0011223880341786306],"end_effector_yaw_offset_degrees":0.07774376429716923},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018229792054094353,0.0019259116654516658,-0.0008986161774822542],"end_effector_yaw_offset_degrees":-0.6334640520636841}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016776968892761946,-0.0034799514411938525],"position_m":[0.2166223031107238,0.26372004855880615,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010408731705151431,-0.004584204705286441],"position_m":[0.21705912682948483,-0.3599842047052864,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005890767066986146,-0.0017499654785477227],"position_m":[0.31611092329330137,-0.060949965478547724,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033038309675142213,-0.0036209107496475877],"position_m":[0.3598038309675142,0.1622790892503524,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8b716ee2872c17db1b8c94f8d879b885794b31deade8959ea09277b9909f4924","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1575/tex_ceiling_textures_2944/tex_floor_textures_6525/tex_table_textures_2823/tex_wall_textures_5084","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6599210429216654221,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6599210429216654221,"visual_seed":6599210429216654221,"scene_id":"lab_003","finished_at":"2026-09-04T19:32:46"} +{"episode_id":"ep_000077","started_at":"2026-09-04T19:32:49","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[0.334624019822918,-1.372129902315439,0.71338606911949],"aabb_xy":[[0.33066353605318366,-1.3797977669009593],[0.33858450359265235,-1.3644620377299181]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.6923756074329757,1.1169760379958933,0.71338606911949],"aabb_xy":[[0.6704669252936245,1.0950753711758023],[0.7142842895723266,1.1388767048159838]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.23158399590356166,-1.3089672245801396,0.71338606911949],"aabb_xy":[[-0.27260193928993254,-1.358967225211097],[-0.19056605251719078,-1.2589672239491823]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.052765911312085856,-1.275254208432054,0.71338606911949],"aabb_xy":[[0.03248160858868709,-1.2955368335747626],[0.0730502140354846,-1.2549715832893449]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.457735222421794,-2.19863216625043,0.71338606911949],"aabb_xy":[[-0.49523522393742564,-2.209858939266575],[-0.4202352209061622,-2.1874053932342847]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.4935574144977781,-2.230020275440742,0.71338606911949],"aabb_xy":[[0.47576390756286163,-2.2478200210365396],[0.5113509214326946,-2.212220529844944]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[0.7144776980943954,-1.070103851354766,0.71338606911949],"aabb_xy":[[0.708165598558057,-1.075870790607985],[0.7207897976307338,-1.0643369121015471]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[0.3574040648475316,-0.7290400594910942,0.71338606911949],"aabb_xy":[[0.2774040634174044,-0.8085572145037037],[0.4374040662776588,-0.6495229044784847]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[-0.06805723055614821,0.9648604699478347,0.71338606911949],"aabb_xy":[[-0.14805105413470643,0.8848604673549932],[0.011936593022410014,1.0448604725406763]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.03958050988887418,-1.7192068073086346,0.71338606911949],"aabb_xy":[[-0.05474338286581127,-1.7343722646037536],[-0.0244176369119371,-1.704041350013516]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[-0.09405852133531145,1.303681251199655,0.71338606911949],"aabb_xy":[[-0.15905852136961418,1.2569805745193274],[-0.029058521301008722,1.350381927879982]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[-0.36494395977842486,-1.426263312301646,0.71338606911949],"aabb_xy":[[-0.3780952057497143,-1.4512633120583327],[-0.3517927138071355,-1.4012633125449596]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.013856682871843051,-1.584092881698828,0.71338606911949],"aabb_xy":[[-0.0028204531212524513,-1.6007928056727583],[0.030533818864938556,-1.5673929577248977]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.19587918440206076,0.9415879243959986,0.71338606911949],"aabb_xy":[[0.15463037337214602,0.886587924883781],[0.2371279954319755,0.9965879239082159]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.0003003018183843631,-2.228196296762403,0.71338606911949],"aabb_xy":[[-0.024213322278621496,-2.25246089006444],[0.024813925915390223,-2.203931703460367]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[-0.4230538617002872,1.108825614757325,0.71338606911949],"aabb_xy":[[-0.5030538638630497,1.0288704311311814],[-0.34305385953752465,1.1887807983834686]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[-0.22715331703442554,-1.9557502298232436,0.71338606911949],"aabb_xy":[[-0.3071533173080325,-2.02869977764896],[-0.14715331676081855,-1.8828006819975267]]},{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[0.38907102526897397,-0.25642171285169857,0.71338606911949],"aabb_xy":[[0.35157102492074616,-0.2682131084327821],[0.42657102561720167,-0.24463031727061502]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[-0.329577133579569,-0.5205107120213923,0.71338606911949],"aabb_xy":[[-0.35479797043940864,-0.545734462874279],[-0.3043562967197293,-0.4952869611685055]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[-0.581102948815923,-2.0479684437365755,0.71338606911949],"aabb_xy":[[-0.6311029498350582,-2.0844346594744034],[-0.5311029477967877,-2.0115022279987476]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[-0.2185359524206792,0.6219693132898736,0.71338606911949],"aabb_xy":[[-0.2293875586695548,0.6111100225622227],[-0.2076843461718036,0.6328286040175247]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[-0.09541565479254499,1.4395236155119107,0.71338606911949],"aabb_xy":[[-0.11791565431625238,1.4170276680612897],[-0.07291565526883757,1.4620195629625312]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[0.7011395220087386,-2.2620834320705647,0.71338606911949],"aabb_xy":[[0.6792497744197978,-2.352083429359814],[0.7230292695976794,-2.1720834347813156]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[-0.05062653812271689,1.7418633247503474,0.71338606911949],"aabb_xy":[[-0.11462654134135475,1.695140212851339],[0.013373465095920974,1.7885864366493558]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[0.6329150560557975,0.30512034549632094,0.71338606911949],"aabb_xy":[[0.6160043236194556,0.29164813990370636],[0.6498257884921391,0.3185925510889354]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[-0.6024060670050682,-1.7849994324466498,0.71338606911949],"aabb_xy":[[-0.639906067110661,-1.791821594299631],[-0.5649060668994751,-1.7781772705936687]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[-0.1122589672485409,0.32123375112267416,0.71338606911949],"aabb_xy":[[-0.1772589682056681,0.2692855391889686],[-0.04725896629141369,0.37318196305637974]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_27","position":[0.45293585049338425,-0.47274109117577456,0.71338606911949],"aabb_xy":[[0.444892490567429,-0.557741092271141],[0.46097921041933937,-0.38774109008040814]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_28","position":[-0.3751429446741279,0.4663944285684831,0.71338606911949],"aabb_xy":[[-0.4651429414097381,0.41321096525118856],[-0.2851429479385177,0.5195778918857776]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_29","position":[-0.199519000382609,-2.3712691948115108,0.71338606911949],"aabb_xy":[[-0.24951211249180094,-2.4212691954857064],[-0.14952588827341715,-2.321269194137315]]}],"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":0.6540029917796442,"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/6572.png","name":"6572"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6572.png","name":"6572"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7139.png","name":"7139"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7803.png","name":"7803"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6874.png","name":"6874"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8700.png","name":"8700"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":598.1884982862238,"rotation_z_degrees":92.07221790551837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008106652332716166,0.017476407947928634,0.01442858558299714]},{"name":"camera_2","offset_m":[-0.008083489151115711,-0.008017174092688354,-0.016707970080131675]},{"name":"camera_3","offset_m":[0.014840621205162292,0.007129195540535042,0.0005559965645920914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009884883046702127,0.001440594548715782,1.9078377533757358e-05],"end_effector_yaw_offset_degrees":-0.7268666413068385},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006281800692145975,0.0003933936334417332,-0.000470971389535717],"end_effector_yaw_offset_degrees":-0.3041001725387429},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00129612433126577,0.0011894413985361605,0.0010088669742985062],"end_effector_yaw_offset_degrees":-0.007124046173806242}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003101420267866423,-0.0019818457123207843],"position_m":[0.2214014202678664,0.2652181542876792,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004881385443679898,-0.004528074033220309],"position_m":[0.22298138544367987,-0.3599280740332203,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035383495425266717,-0.003866926972904086],"position_m":[0.32023834954252667,-0.06306692697290409,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011009440914060108,-0.004959386949750961],"position_m":[0.35760094409140597,0.16094061305024904,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"85dcab52cc9a2042eba4d8e80082471deb8ffe36b7c1a98017ccb47852f48cbf","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0077.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6572/tex_ceiling_textures_8700/tex_floor_textures_6874/tex_table_textures_7139/tex_wall_textures_7803","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6885185190276753426,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6885185190276753426,"visual_seed":6885185190276753426,"scene_id":"lab_003","finished_at":"2026-09-04T19:35:55"} +{"episode_id":"ep_000078","started_at":"2026-09-04T19:35:59","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[0.10144032629838984,0.6517458607664959,0.71338606911949],"aabb_xy":[[0.05431094729655414,0.5877458597220937],[0.14856970530022548,0.7157458618108976]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.5570807916957091,-0.10568302076976899,0.71338606911949],"aabb_xy":[[-0.6070807930565963,-0.1556609253451846],[-0.5070807903348219,-0.05570511619435337]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[-0.22734529359176014,0.37179727548168096,0.71338606911949],"aabb_xy":[[-0.28247049922135087,0.3117972740403938],[-0.17222008796216934,0.4317972769229681]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[-0.6011760664594361,0.6572785006321196,0.71338606911949],"aabb_xy":[[-0.6711760682681815,0.6359247318679321],[-0.5311760646506907,0.6786322693963068]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.12423027978155476,-1.8093323330619242,0.71338606911949],"aabb_xy":[[-0.14923027894718788,-1.8162845787672808],[-0.09923028061592164,-1.8023800873565676]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[0.4669334257241087,-2.441398363860367,0.71338606911949],"aabb_xy":[[0.4019334247236081,-2.4921847290150416],[0.5319334267246092,-2.3906119987056917]]},{"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_6","position":[-0.2742975245290487,-0.0826811981752189,0.71338606911949],"aabb_xy":[[-0.30428918726291904,-0.11268119751201942],[-0.24430586179517838,-0.05268119883841836]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.07577984679268635,-0.6035271760950367,0.71338606911949],"aabb_xy":[[0.06836739125129787,-0.6093783865166646],[0.08319230233407482,-0.5976759656734087]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.02228466507781912,-2.0192740838190675,0.71338606911949],"aabb_xy":[[-0.03971538015682562,-2.036546198482918],[-0.004853949998812611,-2.002001969155216]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.0819518812102964,1.034061747832557,0.71338606911949],"aabb_xy":[[-0.08753355284442516,1.0215617480147816],[-0.07637020957616764,1.0465617476503326]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[0.4720872955856139,0.007753692051612138,0.71338606911949],"aabb_xy":[[0.4667547809310009,0.0024293638063765397],[0.4774198102402269,0.013078020296847737]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[-0.3618120089542614,-0.8330257813142741,0.71338606911949],"aabb_xy":[[-0.3962744869673492,-0.839689458497197],[-0.32734953094117364,-0.8263621041313514]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.0813671170096747,1.584195031497099,0.71338606911949],"aabb_xy":[[-0.13636259483033408,1.5291950300631918],[-0.026371639189015306,1.6391950329310057]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.06246796281934497,-1.4127135041108438,0.71338606911949],"aabb_xy":[[0.017189347938195695,-1.4767135034590275],[0.10774657770049421,-1.3487135047626602]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[-0.11528593587659863,-2.156881731716085,0.71338606911949],"aabb_xy":[[-0.1792859390952365,-2.2036048436150932],[-0.051285932657960775,-2.1101586198170765]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[-0.05877673615639645,0.4850398109855112,0.71338606911949],"aabb_xy":[[-0.07645236674499477,0.46735959470610844],[-0.041101105567798106,0.5027200272649139]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[-0.6608735137545685,1.6769051875878556,0.71338606911949],"aabb_xy":[[-0.6790793374158163,1.665879787005864],[-0.6426676900933209,1.6879305881698472]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[0.42901872469840674,0.6309511261015999,0.71338606911949],"aabb_xy":[[0.35901872130684476,0.595635352398169],[0.4990187280899687,0.6662668998050307]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[-0.20421308723910903,0.9279124721484648,0.71338606911949],"aabb_xy":[[-0.2081735710088434,0.9202446075629444],[-0.20025260346937465,0.9355803367339856]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[0.35518540248413477,-1.1890646210480993,0.71338606911949],"aabb_xy":[[0.3052024522966554,-1.2390646206906595],[0.40516835267161405,-1.1390646214055387]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[0.07155174306560386,-2.319900522323913,0.71338606911949],"aabb_xy":[[0.036551741714122114,-2.3402602582807335],[0.10655174441708558,-2.299540786367092]]}],"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":0.6512013750055272,"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/3835.png","name":"3835"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3835.png","name":"3835"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4108.png","name":"4108"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9543.png","name":"9543"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9606.png","name":"9606"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2218.png","name":"2218"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":677.1012199742966,"rotation_z_degrees":307.20060653371337,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018183175491758418,-0.009116079010138715,-0.01960561014463377]},{"name":"camera_2","offset_m":[-0.00018886698843938177,0.01740286502161713,-0.002849851610927146]},{"name":"camera_3","offset_m":[-0.016373472001152748,0.01903497579907473,0.006844083574680013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001671220535635501,0.0005588424114570155,0.0014857591060100494],"end_effector_yaw_offset_degrees":-0.10265223823076797},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007110842847633605,0.0017741789309046983,0.0012115918920335162],"end_effector_yaw_offset_degrees":-0.6474978107725264},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008614851248290407,0.001177164940561407,0.0013668631428930063],"end_effector_yaw_offset_degrees":-0.30300297626305217}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002316045006170656,0.0001138727905005861],"position_m":[0.21598395499382933,0.26731387279050056,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004770551175045432,0.00041740574899380104],"position_m":[0.22287055117504542,-0.3549825942510062,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004143785216006525,-0.004571084048403581],"position_m":[0.3125562147839935,-0.06377108404840358,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014846815894760204,-0.0024947148607989667],"position_m":[0.355015318410524,0.16340528513920102,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dd966a288bbe97804c75d42dae4192422444598fb4de61e7b933c75aa018541c","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3835/tex_ceiling_textures_2218/tex_floor_textures_9606/tex_table_textures_4108/tex_wall_textures_9543","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6264234043147529006,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6264234043147529006,"visual_seed":6264234043147529006,"scene_id":"lab_003","finished_at":"2026-09-04T19:39:03"} +{"episode_id":"ep_000079","started_at":"2026-09-04T19:39:06","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g04_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_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.5457537489985695,-2.249167313783958,0.71338606911949],"aabb_xy":[[0.5082537486503417,-2.260958709365041],[0.5832537493467972,-2.237375918202874]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[-0.32505594650267416,1.0218303505890298,0.71338606911949],"aabb_xy":[[-0.34511435811591445,1.0017652636798722],[-0.3049975348894339,1.041895437498187]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[-0.5330291174038401,-1.2492510296093458,0.71338606911949],"aabb_xy":[[-0.5456318165409165,-1.2618464258342112],[-0.5204264182667636,-1.2366556333844803]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[-0.5674728967970474,1.3377991813327332,0.71338606911949],"aabb_xy":[[-0.6224651474325584,1.2827991795894207],[-0.5124806461615365,1.3927991830760462]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.02633062722822621,-1.256057077268893,0.71338606911949],"aabb_xy":[[-0.08132383856536297,-1.3110570776076869],[0.028662584108910545,-1.2010570769300997]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[0.6671046993957159,-0.6771699978595287,0.71338606911949],"aabb_xy":[[0.6574730631752864,-0.6868073106392375],[0.6767363356161457,-0.6675326850798197]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.24306323903431126,1.1718890373443904,0.71338606911949],"aabb_xy":[[0.2326516803538275,1.1665433040084918],[0.2534747977147949,1.1772347706802886]]},{"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_7","position":[-0.06370062842049595,-1.4877923874798031,0.71338606911949],"aabb_xy":[[-0.09961413284548562,-1.5237058956965575],[-0.027787123995506258,-1.4518788792630484]]},{"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_8","position":[0.7057268547306466,0.37078900907987533,0.71338606911949],"aabb_xy":[[0.6996322268425282,0.3622196145282066],[0.7118214826187649,0.37935840363154405]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.4879497710175824,-2.427613276428043,0.71338606911949],"aabb_xy":[[-0.5289677144039533,-2.4776132770590005],[-0.4469318276312115,-2.377613275797086]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.4215055894808618,1.441127824190915,0.71338606911949],"aabb_xy":[[-0.4558025004986024,1.4068309379809734],[-0.3872086784631211,1.475424710400856]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.10328191136793596,1.3793680961882169,0.71338606911949],"aabb_xy":[[0.08078548993407185,1.3568680963814694],[0.12577833280180006,1.4018680959949643]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[0.11598513943881139,0.8054550682857982,0.71338606911949],"aabb_xy":[[0.06598513907824531,0.7554750810761952],[0.16598513979937743,0.8554350554954011]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.14766504219369458,1.2479709937399988,0.71338606911949],"aabb_xy":[[0.08266504363662175,1.2182184603261164],[0.21266504075076742,1.2777235271538816]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.2767631051930884,-1.397702726757594,0.71338606911949],"aabb_xy":[[-0.3110793823677063,-1.4477027267307716],[-0.24244682801847045,-1.3477027267844162]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[-0.373856125887586,-0.8543863006868602,0.71338606911949],"aabb_xy":[[-0.37918864054219903,-0.8597106289320958],[-0.36852361123297306,-0.8490619724416247]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.559153809920939,-1.3083035688752167,0.71338606911949],"aabb_xy":[[0.5511174752196542,-1.3163416881796335],[0.5671901446222238,-1.3002654495708]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[-0.4395293700510466,1.0708286736563317,0.71338606911949],"aabb_xy":[[-0.4521561573382429,1.0612825999547586],[-0.4269025827638502,1.0803747473579044]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.04450922542176061,1.6697563724216402,0.71338606911949],"aabb_xy":[[-0.07235426220236774,1.6389718736833285],[-0.016664188641153488,1.700540871159952]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[0.2657940023459753,-1.0495920836325248,0.71338606911949],"aabb_xy":[[0.25488822625841256,-1.1295920800313537],[0.276699778433538,-0.9695920872336954]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[-0.16994621121875852,-1.1946117360776545,0.71338606911949],"aabb_xy":[[-0.1924462107424659,-1.217107683528275],[-0.1474462116950511,-1.1721157886270335]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[-0.1842783551949012,0.5195189908211604,0.71338606911949],"aabb_xy":[[-0.21056717951534187,0.4932475571665091],[-0.15798953087446055,0.5457904244758115]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.5523401693274645,-1.7259325901105496,0.71338606911949],"aabb_xy":[[-0.5898401699920433,-1.7416196481107715],[-0.5148401686628858,-1.7102455321103271]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_23","position":[-0.46824993616763344,0.9003775051707432,0.71338606911949],"aabb_xy":[[-0.4728850513198668,0.8965101700935945],[-0.4636148210154001,0.9042448402478918]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[0.6033015656818828,-1.9310416923515952,0.71338606911949],"aabb_xy":[[0.5483278436455499,-1.9860416919158284],[0.6582752877182156,-1.876041692787362]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[-0.2559578875300848,-2.0230500196514933,0.71338606911949],"aabb_xy":[[-0.2615395591642135,-2.035550019469268],[-0.250376215895956,-2.0105500198337176]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[0.6848324576462561,1.0234436358361156,0.71338606911949],"aabb_xy":[[0.6623324571342155,1.0009517774707173],[0.7073324581582967,1.045935494201514]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_27","position":[-0.39754478704420054,0.3221002951651726,0.71338606911949],"aabb_xy":[[-0.4200447870543489,0.3080040755255693],[-0.3750447870340523,0.33619651480477586]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_28","position":[0.4929187184048469,1.2195988353678775,0.71338606911949],"aabb_xy":[[0.46769788154500713,1.1943750845149905],[0.5181395552646864,1.244822586220764]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_29","position":[0.33483122555514133,-2.167338193319856,0.71338606911949],"aabb_xy":[[0.289552610673992,-2.2313381926680393],[0.38010984043629054,-2.103338193971672]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[0.5922935046839695,-1.014869711519647,0.71338606911949],"aabb_xy":[[0.5835122775367333,-1.0236494588081773],[0.6010747318312059,-1.0060899642311172]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[-0.4049524628379066,0.591893452519971,0.71338606911949],"aabb_xy":[[-0.43741416371983394,0.5617606204050682],[-0.372490761955979,0.6220262846348734]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_32","position":[0.6374269150158223,-2.4623575600502243,0.71338606911949],"aabb_xy":[[0.6199269147707728,-2.479857347889791],[0.6549269152608715,-2.4448577722106575]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_33","position":[0.2877950768942762,0.9347933966896016,0.71338606911949],"aabb_xy":[[0.23779507745408057,0.8848254722052852],[0.3377950763344718,0.9847613211739178]]}],"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":0.6519510568418663,"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/5408.png","name":"5408"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5408.png","name":"5408"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9357.png","name":"9357"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6329.png","name":"6329"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/827.png","name":"827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6860.png","name":"6860"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":834.055851860609,"rotation_z_degrees":178.87042687295946,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016805627468887873,-0.0052428911681739535,-0.016490077409482478]},{"name":"camera_2","offset_m":[-0.004001728538575052,0.01615555784144535,0.016573987403775383]},{"name":"camera_3","offset_m":[-0.006603231054327674,-0.0024188842444646773,-0.01343689563327433]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008435191272448902,0.0010141971534389903,0.0005451537975306232],"end_effector_yaw_offset_degrees":0.043054085654941066},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011509999514805304,-0.0008074495052433899,0.001060176036117316],"end_effector_yaw_offset_degrees":-0.020100450021556915},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008886657003624207,0.0008945767390486068,0.0015221272618683784],"end_effector_yaw_offset_degrees":-0.24609822121852876}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004149513819207755,-0.002472267258310783],"position_m":[0.21415048618079224,0.2647277327416892,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007596877258477987,0.0020839772315998624],"position_m":[0.2188596877258478,-0.35331602276840013,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004080684526073912,-0.00040969073321498253],"position_m":[0.3126193154739261,-0.05960969073321498,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032183349859831673,0.0029045780997004915],"position_m":[0.35971833498598316,0.16880457809970048,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f64d719bfd465e36193f2af6ecd775b5758b7cfa31f7d09f01398b58a6daf90a","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5408/tex_ceiling_textures_6860/tex_floor_textures_827/tex_table_textures_9357/tex_wall_textures_6329","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5038922213501595415,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5038922213501595415,"visual_seed":5038922213501595415,"scene_id":"lab_003","finished_at":"2026-09-04T19:42:06"} +{"episode_id":"ep_000080","started_at":"2026-09-04T19:42:11","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[0.5188112522090214,1.6720110424614272,0.71338606911949],"aabb_xy":[[0.45481125291485314,1.608024902092573],[0.5828112515031896,1.7359971828302814]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[0.07217937005270092,-1.5899636030042288,0.71338606911949],"aabb_xy":[[0.04967936954066032,-1.6124554613696274],[0.09467937056474152,-1.5674717446388307]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[0.37621389044117537,-1.768781071696294,0.71338606911949],"aabb_xy":[[0.3707559448041552,-1.8487810750039528],[0.3816718360781953,-1.6887810683886346]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.38164333426093866,-2.349952241587732,0.71338606911949],"aabb_xy":[[0.3470522514068934,-2.4149522418727627],[0.4162344171149838,-2.2849522413027006]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.6445434224329557,-1.4316318177090332,0.71338606911949],"aabb_xy":[[-0.6790059004460434,-1.4382954948919557],[-0.6100809444198678,-1.4249681405261103]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.5190382803993069,-0.33536095206828875,0.71338606911949],"aabb_xy":[[-0.5830382776849556,-0.3768676710211327],[-0.45503828311365835,-0.2938542331154448]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.4002834050603783,0.9048750867978668,0.71338606911949],"aabb_xy":[[0.3592654616740074,0.8548750861669095],[0.4413013484467492,0.9548750874288242]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[0.6077041742103573,1.3889482564544782,0.71338606911949],"aabb_xy":[[0.5437041769080109,1.344581829486621],[0.6717041715127037,1.4333146834223345]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[-0.4629559869542826,-2.241068574097561,0.71338606911949],"aabb_xy":[[-0.4710696416276597,-2.2491743905515897],[-0.4548423322809055,-2.232962757643531]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[-0.42137583092136566,0.6252495416332127,0.71338606911949],"aabb_xy":[[-0.47637582912311044,0.584727575006775],[-0.36637583271962076,0.6657715082596501]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.019579354478321265,-1.1277893126012222,0.71338606911949],"aabb_xy":[[-0.035412896157189684,-1.1827893143445352],[0.07457160511383222,-1.0727893108579096]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.650688454537119,1.7000962141845464,0.71338606911949],"aabb_xy":[[-0.6682351494532379,1.662596212620295],[-0.633141759621,1.7375962157487976]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[0.07774460033401887,0.6770684529071271,0.71338606911949],"aabb_xy":[[0.06697162641265109,0.6420684546880882],[0.08851757425538664,0.7120684511261661]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[0.5014587034062781,-0.5776357603206619,0.71338606911949],"aabb_xy":[[0.4888319161190817,-0.5871818340222348],[0.5140854906934744,-0.568089686619089]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.37972390239464615,0.36567841009226676,0.71338606911949],"aabb_xy":[[0.34287335445765854,0.32817840926923303],[0.41657445033163376,0.4031784109153005]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.3073473688734924,0.31103997847148657,0.71338606911949],"aabb_xy":[[-0.3873473691470994,0.23809043064576987],[-0.22734736859988544,0.3839895262972033]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.1459048571101217,-0.9256889225669753,0.71338606911949],"aabb_xy":[[-0.16840485712026998,-0.9397851422065785],[-0.1234048570999734,-0.9115927029273719]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[0.47532117634013815,-1.2806466297347026,0.71338606911949],"aabb_xy":[[0.3853211726632199,-1.3420790363118067],[0.5653211800170563,-1.219214223157598]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[0.3379653435134218,-0.39502361401106656,0.71338606911949],"aabb_xy":[[0.3291841163661856,-0.4038033612995968],[0.34674657066065806,-0.3862438667225365]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.6330258429062955,-1.7158272389910791,0.71338606911949],"aabb_xy":[[-0.6421857218501721,-1.722358457034616],[-0.6238659639624189,-1.7092960209475418]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.38194169233823466,-1.317567739298185,0.71338606911949],"aabb_xy":[[-0.40694169227075255,-1.3244504075191084],[-0.35694169240571677,-1.3106850710772617]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[-0.2274194533748234,-1.3473418166938411,0.71338606911949],"aabb_xy":[[-0.31241945206689803,-1.37932768008872],[-0.14241945468274875,-1.3153559532989623]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[0.3583804991592714,-1.0666214254911426,0.71338606911949],"aabb_xy":[[0.34822748360512196,-1.1026909670638827],[0.3685335147134207,-1.030551883918402]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[0.6891429530972204,-0.5141062977054047,0.71338606911949],"aabb_xy":[[0.6785754734391213,-0.5246513278184133],[0.6997104327553193,-0.5035612675923962]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_24","position":[-0.407784263423567,-1.8637270968881667,0.71338606911949],"aabb_xy":[[-0.4877842608271604,-1.943719668086349],[-0.32778426601997357,-1.7837345256899835]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[-0.5017034599057331,-0.4837841112616106,0.71338606911949],"aabb_xy":[[-0.5511838811196919,-0.5477841091744624],[-0.45222303869177427,-0.4197841133487588]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[-0.39288975900420564,1.2661744798822672,0.71338606911949],"aabb_xy":[[-0.4278897603556873,1.2458147439254463],[-0.35788975765272385,1.286534215839088]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_27","position":[0.5879819443248908,-0.26124768944691246,0.71338606911949],"aabb_xy":[[0.5239819479293177,-0.325210977865646],[0.6519819407204639,-0.1972844010281789]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[0.4465668095644295,1.1853315327397334,0.71338606911949],"aabb_xy":[[0.3565668130635577,1.1394198903212749],[0.5365668060653012,1.2312431751581914]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[-0.4847032174120035,-0.8900336468894772,0.71338606911949],"aabb_xy":[[-0.568425442912086,-0.9800336504241731],[-0.40098099191192105,-0.8000336433547812]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_30","position":[-0.0847511002931699,-1.8706993116572406,0.71338606911949],"aabb_xy":[[-0.14875110067070352,-1.9204445785080526],[-0.02075109991563627,-1.820954044806428]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_31","position":[0.07836487576804474,-0.8268986073584728,0.71338606911949],"aabb_xy":[[0.008364872376482755,-0.8622143810619035],[0.1483648791596067,-0.7915828336550418]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_32","position":[0.2178966199169169,1.494582545059831,0.71338606911949],"aabb_xy":[[0.15789661940906394,1.4377358113739094],[0.27789662042476976,1.551429278745752]]}],"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":0.6507862837908832,"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/722.png","name":"722"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/722.png","name":"722"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3469.png","name":"3469"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2880.png","name":"2880"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1163.png","name":"1163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/628.png","name":"628"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":636.7544475795087,"rotation_z_degrees":117.01581603804826,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009726534282621997,-0.004310996478411509,-0.005363794344633535]},{"name":"camera_2","offset_m":[-0.009630834099520005,0.014025577403364995,-0.0034532371707203698]},{"name":"camera_3","offset_m":[-0.01137360402753198,0.006579128894904952,0.0002072915789721498]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00033329566480979613,-0.0007384477412665481,0.001150701425999635],"end_effector_yaw_offset_degrees":0.1130580435230073},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009741685805012361,0.0007260153669016731,0.0009433565385095896],"end_effector_yaw_offset_degrees":0.862879040975759},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[2.2161761285838764e-05,0.0009912914145806316,-0.0009317141253094938],"end_effector_yaw_offset_degrees":-0.2091789923864269}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009451639717237073,-0.0039708898600684],"position_m":[0.2192451639717237,0.2632291101399316,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003658996598826291,-0.0005278317083882563],"position_m":[0.22175899659882628,-0.35592783170838826,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009675417310115123,0.004466933817346189],"position_m":[0.3157324582689885,-0.05473306618265381,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001933029249652986,-0.00028741982428084206],"position_m":[0.358433029249653,0.16561258017571914,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e23fc5bb90e6dee1d119bf3fd18383aeb90613527d3ad0d075d7ccec32b5a4e","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_722/tex_ceiling_textures_628/tex_floor_textures_1163/tex_table_textures_3469/tex_wall_textures_2880","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":505044680979275569,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":505044680979275569,"visual_seed":505044680979275569,"scene_id":"lab_003","finished_at":"2026-09-04T19:45:08"} +{"episode_id":"ep_000081","started_at":"2026-09-04T19:45:11","dimensions":{"distractor":{"count":24,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[-0.30669723472330995,1.0261223516708964,0.71338606911949],"aabb_xy":[[-0.345242927548511,0.9875765806147078],[-0.2681515418981089,1.064668122727085]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_1","position":[0.031317156703299265,0.9115551477306836,0.71338606911949],"aabb_xy":[[0.013886441624292754,0.8942830330668327],[0.04874787178230577,0.9288272623945343]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[0.6045127137462747,-1.1683855883665284,0.71338606911949],"aabb_xy":[[0.5870127135012252,-1.185885376206095],[0.622012713991324,-1.1508858005269613]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.11504319070205182,1.2456246518857887,0.71338606911949],"aabb_xy":[[0.0649457267209782,1.181624651375977],[0.16514065468312544,1.3096246523956006]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.2775839089871181,-0.322497633406873,0.71338606911949],"aabb_xy":[[-0.2893520957817756,-0.40749763331209465],[-0.2658157221924606,-0.23749763350165148]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[-0.1329153911919415,1.7352697041639105,0.71338606911949],"aabb_xy":[[-0.1829153898378627,1.685350160504448],[-0.08291539254602032,1.7851892478233728]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.5463817775864857,-1.639127055308571,0.71338606911949],"aabb_xy":[[0.5285882706515691,-1.6569268009043687],[0.564175284521402,-1.6213273097127734]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.6323138446654779,0.4876387540143976,0.71338606911949],"aabb_xy":[[0.6146382140768796,0.4699585377349948],[0.6499894752540762,0.5053189702938002]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.272876646913775,-2.0992492967241256,0.71338606911949],"aabb_xy":[[0.22289923004852139,-2.149249298213374],[0.32285406377902853,-2.049249295234877]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.04743019391104952,-0.0957021087639438,0.71338606911949],"aabb_xy":[[-0.0699301937249519,-0.1001767251344245],[-0.024930194097147133,-0.09122749239346312]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.6310188826258047,-1.5538011331926314,0.71338606911949],"aabb_xy":[[-0.6363564582918093,-1.5788011341217714],[-0.6256813069598002,-1.5288011322634918]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.4110856177182709,-2.135945403395934,0.71338606911949],"aabb_xy":[[-0.438930654498878,-2.1667299021342457],[-0.3832405809376638,-2.1051609046576223]]},{"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_12","position":[0.5223031480303044,1.14700486781013,0.71338606911949],"aabb_xy":[[0.4373031496128813,1.062130572347845],[0.6073031464477278,1.2318791632724149]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[0.5642169918473565,-0.9589741132905885,0.71338606911949],"aabb_xy":[[0.5533112157597938,-1.0389741096894174],[0.5751227679349192,-0.8789741168917591]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[-0.46255568818988113,-1.2780546857082473,0.71338606911949],"aabb_xy":[[-0.4971467710439263,-1.3430546859932782],[-0.42796460533583586,-1.213054685423216]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[0.057824039970486574,-0.84756056117854,0.71338606911949],"aabb_xy":[[0.04318063441645358,-0.8622192808353242],[0.07246744552451956,-0.8329018415217557]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[-0.06897311838657005,-2.166216232943335,0.71338606911949],"aabb_xy":[[-0.1064731188839283,-2.1701849164914537],[-0.03147311788921181,-2.1622475493952167]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[-0.1202943460296082,0.6847592753794207,0.71338606911949],"aabb_xy":[[-0.2002943464998242,0.6764485677650725],[-0.04029434555939226,0.6930699829937692]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[-0.17788227086233876,-1.4454531641618185,0.71338606911949],"aabb_xy":[[-0.2278822704386735,-1.4954337431139244],[-0.12788227128600407,-1.3954725852097125]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.0898331887461642,-0.3874144342510917,0.71338606911949],"aabb_xy":[[-0.10140216949310078,-0.4124144343680234],[-0.07826420799922763,-0.36241443413415997]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[0.5881336289070065,0.6599998697465144,0.71338606911949],"aabb_xy":[[0.5832343366004429,0.6323229504439455],[0.5930329212135699,0.687676789049083]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.3047441326961609,0.644364772284677,0.71338606911949],"aabb_xy":[[-0.3499154505443299,0.5803647751401387],[-0.25957281484799194,0.7083647694292156]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[0.48458198096080096,0.46758925233856274,0.71338606911949],"aabb_xy":[[0.4582931566403603,0.4413178186839114],[0.5108708052812416,0.49386068599321387]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_23","position":[-0.5790143357138225,-0.4488868923166942,0.71338606911949],"aabb_xy":[[-0.6590143327280706,-0.4690214439901055],[-0.4990143386995747,-0.42875234064328294]]}],"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":0.6527054990517881,"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/3542.png","name":"3542"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3542.png","name":"3542"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4315.png","name":"4315"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3562.png","name":"3562"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1358.png","name":"1358"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/654.png","name":"654"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":650.3566000168469,"rotation_z_degrees":268.5928667962302,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01980170159006223,0.01142284932423027,0.014826148452730958]},{"name":"camera_2","offset_m":[0.006554617498507755,0.0126635883592759,0.015053250406579666]},{"name":"camera_3","offset_m":[0.003376224018127337,0.0070913307892739655,0.0031229917761204685]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006210027071901463,-0.0014688793067807056,0.0009192148608272721],"end_effector_yaw_offset_degrees":0.737300497697225},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002966518319708097,-0.0009690297584455405,-0.0007075450108841093],"end_effector_yaw_offset_degrees":-0.0991479100406576},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.5715830147024412e-05,-0.001960356974589622,-0.0015158700432539036],"end_effector_yaw_offset_degrees":0.6393065954673032}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003318305980562402,0.004413200660116319],"position_m":[0.2149816940194376,0.2716132006601163,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0043965073625545645,-0.0029044729111279022],"position_m":[0.22249650736255455,-0.3583044729111279,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004484429347321618,0.00105412540246381],"position_m":[0.31221557065267835,-0.058145874597536194,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033852945172669876,0.003060910350997319],"position_m":[0.359885294517267,0.1689609103509973,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4fd2d85548eafb2dc4860fd5a351ff18ca9d10890cec6331cc3198963a66b35b","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3542/tex_ceiling_textures_654/tex_floor_textures_1358/tex_table_textures_4315/tex_wall_textures_3562","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5997450692482529528,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5997450692482529528,"visual_seed":5997450692482529528,"scene_id":"lab_003","finished_at":"2026-09-04T19:47:57"} +{"episode_id":"ep_000082","started_at":"2026-09-04T19:48:00","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[-0.10327941476179647,-2.29899096107739,0.71338606911949],"aabb_xy":[[-0.17327941739838282,-2.3190958260732555],[-0.033279412125210114,-2.2788860960815245]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.07682888930914711,1.7063599491440322,0.71338606911949],"aabb_xy":[[0.02734846809518833,1.6423599512311804],[0.1263093105231059,1.770359947056884]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[0.6356027861632378,-0.7277960252276396,0.71338606911949],"aabb_xy":[[0.613713038574297,-0.8177960225168887],[0.6574925337521786,-0.6377960279383904]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.5841095028626678,1.3874682925483195,0.71338606911949],"aabb_xy":[[-0.649109503968611,1.3625029194801912],[-0.5191095017567244,1.4124336656164478]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[0.4897821396383044,0.4813283301117157,0.71338606911949],"aabb_xy":[[0.4347821400165585,0.426344637324243],[0.5447821392600503,0.5363120228991884]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[-0.5806661865478713,-0.7723910894678279,0.71338606911949],"aabb_xy":[[-0.6179974630731139,-0.80704414426268],[-0.5433349100226287,-0.7377380346729755]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.3335151774133877,-1.3007424319086267,0.71338606911949],"aabb_xy":[[-0.35094589249239416,-1.3180145465724773],[-0.31608446233438114,-1.2834703172447757]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.10549620806269966,-1.5332155142482904,0.71338606911949],"aabb_xy":[[-0.1604962062644445,-1.573737480874728],[-0.05049620986095483,-1.4926935476218528]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.6331129637733557,1.7290856944864372,0.71338606911949],"aabb_xy":[[0.5831129621118608,1.6790872522307343],[0.6831129654348503,1.7790841367421397]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.41090572419975,1.40276617857221,0.71338606911949],"aabb_xy":[[0.3822563918393338,1.374120619295134],[0.43955505656016625,1.4314117378492857]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[-0.09352146156851593,1.4683945978153141,0.71338606911949],"aabb_xy":[[-0.18352145806938766,1.4224829553968557],[-0.003521465067644169,1.5143062402337721]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.036090373184350044,-1.5383504711925127,0.71338606911949],"aabb_xy":[[0.028054038483065195,-1.5463885904969292],[0.04412670788563488,-1.5303123518880957]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.48044835708391903,0.8184487459047745,0.71338606911949],"aabb_xy":[[-0.5179483570276855,0.8101556558699379],[-0.4429483571401526,0.826741835939611]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.5742434670707028,-2.4095530830410534,0.71338606911949],"aabb_xy":[[0.5102477696756061,-2.4735530813417617],[0.6382391644657993,-2.3455530847403443]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.3435665148161147,-2.219976717591966,0.71338606911949],"aabb_xy":[[-0.361242145404713,-2.237656933871368],[-0.32589088422751633,-2.2022965013125626]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.3320288726814188,-1.668940589504492,0.71338606911949],"aabb_xy":[[-0.34449623079115443,-1.6814059141378157],[-0.31956151457168314,-1.6564752648711687]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.6847364896976412,1.520919382895182,0.71338606911949],"aabb_xy":[[-0.6907030286383771,1.514958238235818],[-0.6787699507569054,1.5268805275545463]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.6344702990158644,1.281822858927574,0.71338606911949],"aabb_xy":[[0.6033233801722813,1.2118228602407666],[0.6656172178594475,1.351822857614381]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.465532817064211,-1.514587778774556,0.71338606911949],"aabb_xy":[[0.37553281846974107,-1.5308383650879773],[0.555532815658681,-1.4983371924611353]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.30092941320520794,-0.6761501019014455,0.71338606911949],"aabb_xy":[[-0.35092941456609517,-0.726128006476861],[-0.2509294118443207,-0.6261721973260298]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.5493020670723312,-1.3587225764062087,0.71338606911949],"aabb_xy":[[0.5290177643489323,-1.3790052015489171],[0.5695863697957299,-1.3384399512634995]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.1328178738053325,0.3360737275124883,0.71338606911949],"aabb_xy":[[-0.14991995176370065,0.31896692198121857],[-0.11571579584696434,0.35318053304375807]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.22655758739974063,-2.001698179042964,0.71338606911949],"aabb_xy":[[0.17655758611590067,-2.051677033433586],[0.2765575886835806,-1.9517193246523419]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[-0.29940533993467267,1.7363391097972998,0.71338606911949],"aabb_xy":[[-0.3043046322412361,1.708662190494731],[-0.2945060476281091,1.7640160290998685]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_24","position":[-0.2818557434918515,-0.4034105718449017,0.71338606911949],"aabb_xy":[[-0.28948001158202974,-0.4110437953814455],[-0.27423147540167325,-0.39577734830835803]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[-0.5788674697766221,-1.6262125130483036,0.71338606911949],"aabb_xy":[[-0.6288674707957573,-1.6626787287861318],[-0.5288674687574868,-1.589746297310476]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[0.48097098586680276,1.5137444379109914,0.71338606911949],"aabb_xy":[[0.4564573617697969,1.4894798446089552],[0.5054846099638086,1.5380090312130281]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_27","position":[0.32411947555569487,1.1636328459624665,0.71338606911949],"aabb_xy":[[0.2541194739534154,1.1502000527608092],[0.39411947715797435,1.1770656391641243]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[-0.4886999034352235,1.6381055478654365,0.71338606911949],"aabb_xy":[[-0.5255504513722111,1.600605547042403],[-0.4518493554982359,1.6756055486884704]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_29","position":[0.22640638236406985,-1.8787725583614932,0.71338606911949],"aabb_xy":[[0.21447364800224178,-1.8911547111693525],[0.23833911672589791,-1.8663904055536338]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_30","position":[-0.08897919162756918,1.0241257825868577,0.71338606911949],"aabb_xy":[[-0.10331361675373263,1.0120655670323189],[-0.07464476650140572,1.0361859981413966]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_31","position":[0.629253552405203,-0.3834478865075073,0.71338606911949],"aabb_xy":[[0.6117068574890842,-0.42094788807175854],[0.646800247321322,-0.345947884943256]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_32","position":[0.22355182721893674,-2.4154531779699284,0.71338606911949],"aabb_xy":[[0.1885518289488168,-2.422527305664916],[0.25855182548905664,-2.40837905027494]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_33","position":[-0.06848680639920701,-2.0714152632483933,0.71338606911949],"aabb_xy":[[-0.08025499319386453,-2.1564152631536153],[-0.05671861960454949,-1.9864152633431722]]}],"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":0.6530284026481303,"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/1432.png","name":"1432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1432.png","name":"1432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7020.png","name":"7020"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5354.png","name":"5354"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/166.png","name":"166"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9584.png","name":"9584"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":760.9139938241525,"rotation_z_degrees":83.00355717827456,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00428524301365071,0.013709776752837046,0.00670735064921495]},{"name":"camera_2","offset_m":[-0.01528190211709752,0.01593735158200862,0.011672130718060118]},{"name":"camera_3","offset_m":[-0.005577104290477357,0.00174630794557587,0.004744520146498038]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00038318822136174774,0.0015019111675966873,0.0010690470087167483],"end_effector_yaw_offset_degrees":0.6925742236910664},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018578327541375404,-0.0009646103251525697,9.914519982420029e-05],"end_effector_yaw_offset_degrees":-0.29323435974829204},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013014111006617482,0.0011284623153920924,0.0007091408622477572],"end_effector_yaw_offset_degrees":-0.2883566444415422}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001030028159666233,0.004433460566527966],"position_m":[0.21726997184033375,0.271633460566528,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038459455627750253,-0.00432785015552379],"position_m":[0.22194594556277503,-0.3597278501555238,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0045685449927689555,0.004405582401314564],"position_m":[0.3212685449927689,-0.05479441759868544,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003920811266527621,-0.004764918200578144],"position_m":[0.3525791887334724,0.16113508179942185,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e3a27cd3e12bf35b9d1a42bd2ab90d7a0368ce55d646879c471c3079f719aeb","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1432/tex_ceiling_textures_9584/tex_floor_textures_166/tex_table_textures_7020/tex_wall_textures_5354","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5205036627511049015,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5205036627511049015,"visual_seed":5205036627511049015,"scene_id":"lab_003","finished_at":"2026-09-04T19:50:51"} +{"episode_id":"ep_000083","started_at":"2026-09-04T19:50:54","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[0.42398596288497625,-0.9761986718686859,0.71338606911949],"aabb_xy":[[0.35998596577287056,-1.0252310416630965],[0.48798595999708194,-0.9271663020742753]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.2827168725408866,1.4736273572788785,0.71338606911949],"aabb_xy":[[0.232716873100691,1.423659432794562],[0.33271687198108224,1.5235952817631946]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[-0.006010469370694493,-1.2632358260110355,0.71338606911949],"aabb_xy":[[-0.012047482371359223,-1.2692625270799833],[2.6543629970233504e-05,-1.2572091249420871]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[0.1912514488484649,1.2944276215047932,0.71338606911949],"aabb_xy":[[0.14608013100029593,1.2304276243602548],[0.2364227666966339,1.3584276186493316]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.5507415500044468,0.18918683422492588,0.71338606911949],"aabb_xy":[[-0.5662973194147121,0.1736364009805187],[-0.5351857805941815,0.2047372674693331]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.6874041775572881,-1.4111871353398877,0.71338606911949],"aabb_xy":[[0.6786902085073535,-1.4336871359990755],[0.6961181466072225,-1.388687134680699]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[0.23491990268204732,-0.6979778112834283,0.71338606911949],"aabb_xy":[[0.18494109417173146,-0.7479778112891471],[0.2848987111923632,-0.6479778112777095]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.018469182771598702,-1.3486798444363153,0.71338606911949],"aabb_xy":[[-0.09846917978584668,-1.3688143961097263],[0.06153081424264928,-1.3285452927629038]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[0.6021278268329302,1.050654114674567,0.71338606911949],"aabb_xy":[[0.5903596400382728,0.9656541147693456],[0.6138960136275878,1.1356541145797887]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.21948564936856002,0.5511211195170747,0.71338606911949],"aabb_xy":[[-0.26948565103005473,0.5011226772613718],[-0.16948564770706526,0.6011195617727773]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.6463260940463345,-0.9235959251745598,0.71338606911949],"aabb_xy":[[0.6355531201249667,-0.9585959233935989],[0.6570990679677022,-0.8885959269555209]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[0.36362632244639115,0.9166396031260353,0.71338606911949],"aabb_xy":[[0.3595481645393414,0.912558622877772],[0.3677044803534409,0.9207205833742986]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.14031024002567527,-2.272767880806172,0.71338606911949],"aabb_xy":[[-0.1628066614595394,-2.2952678806129194],[-0.1178138185918112,-2.2502678809994245]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.4279887639488899,-0.07696746284942213,0.71338606911949],"aabb_xy":[[-0.49198876716752776,-0.12369057474843048],[-0.36398876073025205,-0.03024435095041378]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.6170575406832433,0.5565026265616422,0.71338606911949],"aabb_xy":[[-0.6295248987929789,0.5440373019283187],[-0.6045901825735076,0.5689679511949657]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.30644122999937834,-2.3579245033601612,0.71338606911949],"aabb_xy":[[-0.35144123146560724,-2.4029243602216424],[-0.26144122853314955,-2.312924646498681]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[0.5341704963722842,-0.28112001300713185,0.71338606911949],"aabb_xy":[[0.48419743083976885,-0.3311200128196648],[0.5841435619047998,-0.23112001319459902]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.26119436842719,1.087700146404337,0.71338606911949],"aabb_xy":[[0.23928568628783897,1.065799479584246],[0.28310305056654106,1.1096008132244275]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[0.42476390667750663,1.7434099040835522,0.71338606911949],"aabb_xy":[[0.4203332773226664,1.7379615323488702],[0.42919453603234675,1.7488582758182352]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[0.19302963213331492,1.6618926303297266,0.71338606911949],"aabb_xy":[[0.12902963283914673,1.5979064899608724],[0.25702963142748314,1.7258787706985808]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[0.4841187646280216,-1.7480053018881807,0.71338606911949],"aabb_xy":[[0.4743627751188476,-1.757767835947415],[0.4938747541371954,-1.738242767828946]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.27716709480004326,-1.6630474485632627,0.71338606911949],"aabb_xy":[[-0.2865141023823385,-1.6773510707809067],[-0.267820087217748,-1.6487438263456187]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[0.40003940976931984,-1.6288459082533109,0.71338606911949],"aabb_xy":[[0.3360394075489128,-1.6732189923785992],[0.46403941198972687,-1.5844728241280226]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[-0.4995053760533118,-0.39301573814393986,0.71338606911949],"aabb_xy":[[-0.5370053763454866,-0.3970572135445435],[-0.462005375761137,-0.38897426274333624]]}],"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":0.64846912242476,"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/4949.png","name":"4949"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4949.png","name":"4949"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5642.png","name":"5642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8027.png","name":"8027"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5953.png","name":"5953"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8779.png","name":"8779"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":680.1906444024157,"rotation_z_degrees":157.16709644669152,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015782845440286998,-0.016512772751048045,0.0031135117906985615]},{"name":"camera_2","offset_m":[-0.01740811830775259,-0.00522971057259714,-0.01737000278555595]},{"name":"camera_3","offset_m":[-0.007153959071613935,0.0010294273763194438,0.00859266715353451]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003945139012039114,-0.0010778556899882171,0.0017900232886294025],"end_effector_yaw_offset_degrees":0.030698166058171772},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007386073988280141,0.0014771114991115972,-0.0015625821123787117],"end_effector_yaw_offset_degrees":-0.06436090966826158},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015616063332970043,-0.001587998976158508,0.0015647655345826955],"end_effector_yaw_offset_degrees":-0.6806940903284815}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013801056767827578,0.004685188979162675],"position_m":[0.21968010567678276,0.2718851889791627,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006377598122975989,-0.0005737518067666977],"position_m":[0.2187377598122976,-0.3559737518067667,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033281787537692313,0.004725971511266423],"position_m":[0.31337182124623075,-0.05447402848873358,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00068033947855046,0.003988027284216814],"position_m":[0.35581966052144953,0.1698880272842168,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"04542b06ff0ad89280f9268eba1a36e51c26c57e58044aada492c042764adf85","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0083.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4949/tex_ceiling_textures_8779/tex_floor_textures_5953/tex_table_textures_5642/tex_wall_textures_8027","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3402649752785477925,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3402649752785477925,"visual_seed":3402649752785477925,"scene_id":"lab_003","finished_at":"2026-09-04T19:54:00"} +{"episode_id":"ep_000084","started_at":"2026-09-04T19:54:04","dimensions":{"distractor":{"count":25,"items":[{"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_0","position":[0.6806723520637747,-1.5921096819332219,0.71338606911949],"aabb_xy":[[0.671378733826624,-1.6296096804213558],[0.6899659703009252,-1.554609683445088]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[-0.3635486446559323,-1.8811137772839177,0.71338606911949],"aabb_xy":[[-0.42754864194158093,-1.9226204962367617],[-0.29954864737028364,-1.8396070583310737]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.5527578523602006,-2.5729803058041947,0.71338606911949],"aabb_xy":[[-0.575257852174103,-2.577454922174675],[-0.5302578525462982,-2.568505689433714]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[0.3894105823606804,0.6194827777851417,0.71338606911949],"aabb_xy":[[0.3747671768066474,0.6048240581283575],[0.40405398791471336,0.6341414974419259]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.5009501758916616,1.2032495469048134,0.71338606911949],"aabb_xy":[[-0.5097522312006342,1.1954382207498842],[-0.4921481205826888,1.2110608730597423]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[-0.5310677580208465,-1.3737446898210826,0.71338606911949],"aabb_xy":[[-0.548861264955763,-1.3915444354168802],[-0.5132742510859302,-1.3559449442252849]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.09099421082484749,-2.172263353055041,0.71338606911949],"aabb_xy":[[-0.11883924760545463,-2.2030478517933525],[-0.06314917404424038,-2.141478854316729]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[-0.42438894082836304,1.7428505413180289,0.71338606911949],"aabb_xy":[[-0.4476707830264943,1.6578505400208008],[-0.40110709863023164,1.827850542615257]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.3679270013205685,-0.09952905736936435,0.71338606911949],"aabb_xy":[[-0.37985973568239656,-0.1119112101772237],[-0.3559942669587404,-0.08714690456150496]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.2815489398874481,-2.317224198190477,0.71338606911949],"aabb_xy":[[-0.33154894124833534,-2.3672021027658925],[-0.23154893852656092,-2.2672462936150612]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[0.05178778239693149,-2.094661520047229,0.71338606911949],"aabb_xy":[[0.034877049960589705,-2.1081337256398434],[0.06869851483327326,-2.081189314454614]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.14502519700022498,1.4147733839198557,0.71338606911949],"aabb_xy":[[-0.209025199049957,1.3746789008305478],[-0.08102519495049301,1.4548678670091637]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.6558266564891504,-0.3824132614741056,0.71338606911949],"aabb_xy":[[0.5908266555320231,-0.43436147340781117],[0.7208266574462775,-0.3304650495404]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[-0.14018567181083952,-0.08672135689930194,0.71338606911949],"aabb_xy":[[-0.17518567178733535,-0.09618597294691857],[-0.10518567183434369,-0.07725674085168534]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[-0.5036396877989622,1.0868345872719036,0.71338606911949],"aabb_xy":[[-0.5115629680377105,1.0643345870339003],[-0.49571640756021385,1.109334587509907]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.5350549119226218,1.6226652717732972,0.71338606911949],"aabb_xy":[[0.4850719617351424,1.5726652721307366],[0.585037862110101,1.6726652714158574]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.44131266013542847,0.7360538750734591,0.71338606911949],"aabb_xy":[[0.4045180270105221,0.6991479999768767],[0.47810729326033463,0.7729597501700413]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[0.41728533000032875,-0.11057578861133432,0.71338606911949],"aabb_xy":[[0.406512356078961,-0.1455757868303733],[0.4280583039216966,-0.07557579039229534]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.19700504309242783,-0.7170834916281874,0.71338606911949],"aabb_xy":[[0.13300504579008143,-0.761449918596044],[0.26100504039477423,-0.6727170646603305]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[0.17457986161539063,-1.664121560058014,0.71338606911949],"aabb_xy":[[0.16729754523872692,-1.7541215636675225],[0.18186217799205423,-1.5741215564485045]]},{"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_20","position":[-0.4708268730654409,0.27338094147096914,0.71338606911949],"aabb_xy":[[-0.5067403774904304,0.23746743325421452],[-0.43491336864045116,0.30929444968772374]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[0.4803410900435714,-1.7036215580091192,0.71338606911949],"aabb_xy":[[0.44300981351832885,-1.7382746128039714],[0.5176723665688141,-1.668968503214267]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.2395739817843785,-1.0328815331276056,0.71338606911949],"aabb_xy":[[0.20498289893033328,-1.0978815334126364],[0.2741650646384237,-0.9678815328425744]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[0.3812458896675115,-0.8006951764197352,0.71338606911949],"aabb_xy":[[0.31624589111043866,-0.8304477098336177],[0.44624588822458433,-0.7709426430058525]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[0.6002795901991462,-1.8794951703509937,0.71338606911949],"aabb_xy":[[0.5302795880677166,-1.9022571359766889],[0.6702795923305757,-1.8567332047252976]]}],"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":0.6475068375352541,"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/1222.png","name":"1222"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1222.png","name":"1222"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8956.png","name":"8956"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8553.png","name":"8553"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9630.png","name":"9630"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4991.png","name":"4991"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":732.8673823138427,"rotation_z_degrees":220.7110268092055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005887737430537443,-0.006468406782607183,-0.010440335725121775]},{"name":"camera_2","offset_m":[-0.0153412983455235,0.009674567741872607,-0.0012247180043503392]},{"name":"camera_3","offset_m":[-0.015713013705039462,0.018599073698721897,-0.0021481725386110345]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018415936235892474,0.0014247507914129025,0.0002635363489736672],"end_effector_yaw_offset_degrees":0.2401388958156072},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012166765157529767,-0.0006912626236564305,-0.0016307930052113827],"end_effector_yaw_offset_degrees":0.15121325973023225},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002669850053515384,-0.0009994731639711959,0.00036410280442526755],"end_effector_yaw_offset_degrees":0.5442129380819942}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00446154480674851,-0.0007593966415628053],"position_m":[0.21383845519325148,0.26644060335843717,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002521008028041055,0.0031150222915034735],"position_m":[0.21557899197195893,-0.35228497770849654,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013322001322375412,-0.001261761805002001],"position_m":[0.3153677998677624,-0.060461761805002005,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003536210609787326,-0.000958181891874901],"position_m":[0.35614637893902124,0.16494181810812508,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8668b0bd243194f7a4f39ce51f0d2a0380779e904509b17149542147f841204b","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1222/tex_ceiling_textures_4991/tex_floor_textures_9630/tex_table_textures_8956/tex_wall_textures_8553","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2504836922863879279,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2504836922863879279,"visual_seed":2504836922863879279,"scene_id":"lab_003","finished_at":"2026-09-04T19:57:05"} +{"episode_id":"ep_000085","started_at":"2026-09-04T19:57:09","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.17447441956801846,-2.049638833133425,0.71338606911949],"aabb_xy":[[-0.1877053651026997,-2.062866252155424],[-0.1612434740333371,-2.0364114141114253]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.52692222157675,-2.2912760663818643,0.71338606911949],"aabb_xy":[[0.4629222213027717,-2.3413421665791523],[0.5909222218507282,-2.2412099661845764]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.6025533625461665,-1.955793546274442,0.71338606911949],"aabb_xy":[[-0.6097971285924119,-2.035793544478045],[-0.5953095964999212,-1.8757935480708399]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[0.3566485372820547,-1.5186596139858497,0.71338606911949],"aabb_xy":[[0.2916485362815542,-1.5694459791405249],[0.4216485382825552,-1.467873248831175]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[0.15410748526345963,-2.402507343819499,0.71338606911949],"aabb_xy":[[0.14447584904303,-2.412144656599208],[0.16373912148388925,-2.39287003103979]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[-0.08340481694901025,0.7433242592689444,0.71338606911949],"aabb_xy":[[-0.11205414930942646,0.7146786999918685],[-0.054755484588594014,0.7719698185460201]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.3914291208398161,-1.352500770713367,0.71338606911949],"aabb_xy":[[-0.4714291178540641,-1.372635322386778],[-0.31142912382556814,-1.3323662190399554]]},{"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_7","position":[0.313372765919641,-1.9201756322919143,0.71338606911949],"aabb_xy":[[0.30467480362892574,-1.9323006065993895],[0.3220707282103563,-1.90805065798444]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.5799773339864649,1.5001853092547468,0.71338606911949],"aabb_xy":[[-0.5881918791021487,1.491508718957105],[-0.5717627888707807,1.5088618995523877]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[-0.3670351589252803,-0.6639961308749514,0.71338606911949],"aabb_xy":[[-0.41702827103447226,-0.713996131549147],[-0.31704204681608844,-0.6139961302007557]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.11618155207588521,-1.8354390832123146,0.71338606911949],"aabb_xy":[[0.11014453907522051,-1.841465784281263],[0.12221856507654996,-1.8294123821433663]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[0.2411697475179999,-2.226525147451327,0.71338606911949],"aabb_xy":[[0.1811697458750781,-2.2785252967432714],[0.30116974916092176,-2.174524998159383]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[0.2544021611141509,0.9250279770440648,0.71338606911949],"aabb_xy":[[0.20923084326598201,0.8610279798995265],[0.29957347896231995,0.9890279741886033]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[-0.013381158432861806,-1.2843968694550132,0.71338606911949],"aabb_xy":[[-0.093381159862989,-1.3639140244676227],[0.06661884299726539,-1.2048797144424037]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.6281963250787289,0.6105081871976683,0.71338606911949],"aabb_xy":[[-0.6506963246024362,0.5880122397470473],[-0.6056963255550214,0.6330041346482889]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.4540062732659039,-2.499416774058713,0.71338606911949],"aabb_xy":[[-0.48440438436504746,-2.5298236760603823],[-0.4236081621667603,-2.4690098720570433]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[0.4203126309410814,-0.5553865435765357,0.71338606911949],"aabb_xy":[[0.33659040544099894,-0.6453865471112317],[0.5040348564411639,-0.46538654004183977]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.3495147921192506,-0.8460933707521143,0.71338606911949],"aabb_xy":[[-0.3686270994772295,-0.8652281496293565],[-0.33040248476127176,-0.8269585918748724]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.0607029772694655,-2.0908237735517012,0.71338606911949],"aabb_xy":[[-0.0982029772132319,-2.099116863586538],[-0.023202977325699092,-2.0825306835168647]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[-0.12426242131253296,0.01925357782046433,0.71338606911949],"aabb_xy":[[-0.132255911107815,0.01125544587998867],[-0.11626893151725096,0.027251709760939997]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.43290414465333554,-2.1943358226027287,0.71338606911949],"aabb_xy":[[-0.44367711857470327,-2.2293358208217677],[-0.4221311707319677,-2.1593358243836898]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[0.23566838920568167,-1.2202596253262474,0.71338606911949],"aabb_xy":[[0.22481678295680607,-1.2311189160538984],[0.24651999545455727,-1.2094003345985964]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[-0.1616970228170913,0.8398739216599354,0.71338606911949],"aabb_xy":[[-0.16974038274304645,0.7548739205645688],[-0.1536536628911361,0.9248739227553017]]},{"name":"st_hose_barb_y_connector_g03_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_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[0.48233839776596077,1.7093207160945032,0.71338606911949],"aabb_xy":[[0.4774391054593972,1.6816437967919344],[0.4872376900725242,1.736997635397072]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[-0.20284582904361692,-1.7860874078709381,0.71338606911949],"aabb_xy":[[-0.2116478843525896,-1.793898734025867],[-0.19404377373464418,-1.7782760817160088]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_25","position":[-0.1811058001378124,1.3912088506287228,0.71338606911949],"aabb_xy":[[-0.24510580248061398,1.34626799938459],[-0.11710579779501086,1.436149701872855]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[0.5792975364888111,-1.3314151069644131,0.71338606911949],"aabb_xy":[[0.5442975382186912,-1.338489234659401],[0.614297534758931,-1.3243409792694247]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[-0.3254174054805788,1.6383401733560032,0.71338606911949],"aabb_xy":[[-0.38541740607659497,1.5835277008107798],[-0.2654174048845626,1.6931526459012267]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[-0.2665514972087789,-1.1589399523818356,0.71338606911949],"aabb_xy":[[-0.3565514969319531,-1.1820133049170152],[-0.17655149748560475,-1.1358665998466555]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_29","position":[0.182106691952587,-1.6512555286913422,0.71338606911949],"aabb_xy":[[0.14866651675656736,-1.6846991545222718],[0.21554686714860657,-1.6178119028604117]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_30","position":[0.5619907314464614,-0.5831962897200538,0.71338606911949],"aabb_xy":[[0.5448886534880933,-0.6003030952513235],[0.5790928094048297,-0.566089484188784]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_31","position":[0.5999896290469353,-1.1945506001324568,0.71338606911949],"aabb_xy":[[0.5449973784114245,-1.2495506018757696],[0.6549818796824464,-1.139550598389144]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_32","position":[-0.09958951083028189,-2.4028355113346906,0.71338606911949],"aabb_xy":[[-0.12410313492728775,-2.427100104636727],[-0.07507588673327603,-2.378570918032654]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_33","position":[0.5230106622678099,-0.7940365134681877,0.71338606911949],"aabb_xy":[[0.4530106606655304,-0.8074693066698453],[0.5930106638700894,-0.7806037202665301]]}],"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":0.6479692297374431,"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/4562.png","name":"4562"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4562.png","name":"4562"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9760.png","name":"9760"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9147.png","name":"9147"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/205.png","name":"205"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6586.png","name":"6586"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":657.0385223695217,"rotation_z_degrees":277.82025307104686,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005751440816022569,0.01827165736176357,-0.01909899679733457]},{"name":"camera_2","offset_m":[0.015872403839955276,-0.0010967182054398943,0.014317636599610866]},{"name":"camera_3","offset_m":[0.003247563493769038,0.014387317388886916,0.0033634778976091746]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00033765312720364046,0.0008904091189803278,-0.0018506906835647197],"end_effector_yaw_offset_degrees":-0.21309066990552372},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00031612068071365886,-0.0006291006341857513,0.0002594120324401375],"end_effector_yaw_offset_degrees":0.021894982428644738},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003978524016262947,0.0005785762380559351,0.000916706634848493],"end_effector_yaw_offset_degrees":-0.3038882197456516}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002166215552458862,-0.0007166889761807908],"position_m":[0.21613378444754114,0.2664833110238192,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031736490498777826,-0.004321355611819622],"position_m":[0.21492635095012222,-0.3597213556118196,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004696026549150435,-0.0039645345714112625],"position_m":[0.3213960265491504,-0.06316453457141126,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014065102538173956,0.004752390403484053],"position_m":[0.3550934897461826,0.17065239040348404,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5bac5abfd9621cf9d3b8c16a19f797dcb93d474bf3d36ba2afb7c3d9418ce0cc","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4562/tex_ceiling_textures_6586/tex_floor_textures_205/tex_table_textures_9760/tex_wall_textures_9147","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":4763738320290729275,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":4763738320290729275,"visual_seed":4763738320290729275,"scene_id":"lab_003","finished_at":"2026-09-04T20:00:17"} +{"episode_id":"ep_000086","started_at":"2026-09-04T20:00:20","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[-0.15884482111033627,-2.2662960244198915,0.71338606911949],"aabb_xy":[[-0.2488448197048062,-2.2825466107333128],[-0.06884482251586632,-2.2500454381064703]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.434494774671847,1.7513210191965087,0.71338606911949],"aabb_xy":[[-0.4547790773952457,1.7310383940537994],[-0.4142104719484482,1.7716036443392171]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.6882317393538979,0.037903341227316645,0.71338606911949],"aabb_xy":[[0.6750007938192164,0.024675922205317218],[0.701462684888579,0.05113076024931606]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.28921442400360386,1.5548009823074236,0.71338606911949],"aabb_xy":[[-0.3023656699748932,1.5298009825507373],[-0.2760631780323145,1.5798009820641103]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[0.17429980472051054,-2.079939229261265,0.71338606911949],"aabb_xy":[[0.13929980552769222,-2.090906275258927],[0.20929980391332875,-2.068972183263602]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[0.5532647906595367,1.5628219367550273,0.71338606911949],"aabb_xy":[[0.535058966998289,1.551796536173036],[0.5714706143207844,1.5738473373370192]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.5361031367071356,0.46359267016511474,0.71338606911949],"aabb_xy":[[-0.6261031361255064,0.430217173320925],[-0.4461031372887646,0.49696816700930446]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[-0.19955500091351552,0.4031185583043486,0.71338606911949],"aabb_xy":[[-0.2170550011585649,0.3856187704647817],[-0.18205500066846614,0.4206183461439154]]},{"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_8","position":[-0.26984216067270417,-1.114725243392769,0.71338606911949],"aabb_xy":[[-0.3548421590901274,-1.199599538855054],[-0.18484216225528094,-1.029850947930484]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.00777550692113782,-2.400823077216613,0.71338606911949],"aabb_xy":[[-0.0077802624891274465,-2.4163735104610202],[0.023331276331403084,-2.385272643972206]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.43224678500837577,-1.9958430413493358,0.71338606911949],"aabb_xy":[[0.40724678545663723,-2.0059855252144705],[0.4572467845601142,-1.985700557484201]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.45115838397350744,0.5596276553032662,0.71338606911949],"aabb_xy":[[-0.46362574208324303,0.5471623306699427],[-0.43869102586377173,0.5720929799365897]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.15841914104976218,-2.5218088763602253,0.71338606911949],"aabb_xy":[[-0.1959191425653939,-2.533035649376371],[-0.12091913953413047,-2.5105821033440807]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[0.6395805363553551,-2.0911839460216313,0.71338606911949],"aabb_xy":[[0.6219049057667566,-2.1088641623010336],[0.6572561669439533,-2.073503729742228]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[-0.03468142084930581,1.7631187711849523,0.71338606911949],"aabb_xy":[[-0.07218142095489875,1.756296609331971],[0.0028185792562871455,1.7699409330379332]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[0.709410035761814,-1.4490750426297003,0.71338606911949],"aabb_xy":[[0.7013666758358589,-1.5340750437250668],[0.7174533956877692,-1.364075041534334]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.5298070994243558,-1.6642247701476895,0.71338606911949],"aabb_xy":[[0.5154726742981922,-1.6762849857022282],[0.5441415245505191,-1.6521645545931505]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[0.1199785100233588,-1.3293186564862451,0.71338606911949],"aabb_xy":[[0.05497851214171101,-1.380442320192786],[0.18497850790500658,-1.2781949927797043]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[-0.23217118050575547,-2.1484289749892946,0.71338606911949],"aabb_xy":[[-0.23712720069063672,-2.170928975191417],[-0.22721516032087433,-2.1259289747871732]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.28317927895923434,1.7711352074613127,0.71338606911949],"aabb_xy":[[-0.3331742899186864,1.7211352084257212],[-0.23318426799978237,1.8211352064969046]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[-0.3525983657160297,1.402987773457514,0.71338606911949],"aabb_xy":[[-0.3645311000778578,1.3906056206496549],[-0.34066563135420164,1.4153699262653736]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[0.24538635260878716,-2.1913236484683756,0.71338606911949],"aabb_xy":[[0.17538634921722518,-2.226639422171806],[0.31538635600034914,-2.1560078747649443]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.20419761540752213,-0.6120766969459397,0.71338606911949],"aabb_xy":[[0.16960653255347688,-0.6770766972309706],[0.23878869826156732,-0.5470766966609085]]}],"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":0.6473410762703663,"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/3585.png","name":"3585"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3585.png","name":"3585"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5091.png","name":"5091"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1870.png","name":"1870"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4530.png","name":"4530"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/312.png","name":"312"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":773.16428474748,"rotation_z_degrees":154.9634550428362,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014590840008584252,0.007316889303171793,0.010184466129256754]},{"name":"camera_2","offset_m":[-0.004500383156067839,0.010594539334903005,-0.017133219873889695]},{"name":"camera_3","offset_m":[-0.018567305175531856,-0.009091296447832601,0.0005075609356607856]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00022593953670716448,0.0013423606380728237,-0.001170576036934325],"end_effector_yaw_offset_degrees":-0.0057865611222482904},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017437438721562676,-0.0015776856106704657,-0.001316593115837792],"end_effector_yaw_offset_degrees":-0.28549594681009993},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016765369369278033,-0.0005963815934498643,-0.0011456360647109014],"end_effector_yaw_offset_degrees":0.9107872609045227}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028102224687513834,-0.003937194709281599],"position_m":[0.22111022246875137,0.2632628052907184,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009653296376005401,0.0016483536144195456],"position_m":[0.21906532963760053,-0.35375164638558043,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0044731458484464056,0.004866117740918917],"position_m":[0.32117314584844636,-0.05433388225908108,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004724917612520641,-0.0025219997814880015],"position_m":[0.35177508238747934,0.16337800021851198,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e758660c725a8c28109c62c2ff8059cc28fdabb4010e75d20a7131143a7ec5b3","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0086.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3585/tex_ceiling_textures_312/tex_floor_textures_4530/tex_table_textures_5091/tex_wall_textures_1870","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3915957982901383090,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3915957982901383090,"visual_seed":3915957982901383090,"scene_id":"lab_003","finished_at":"2026-09-04T20:03:08"} +{"episode_id":"ep_000087","started_at":"2026-09-04T20:03:11","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[-0.024676887560815097,-1.8185654096836814,0.71338606911949],"aabb_xy":[[-0.0886768878212859,-1.8635742090366096],[0.0393231126996557,-1.7735566103307536]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.07248840332495288,0.3257213007772206,0.71338606911949],"aabb_xy":[[-0.0804818931202349,0.31772316883674495],[-0.06449491352967085,0.3337194327176963]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[0.2520204749751578,-0.8923491623410267,0.71338606911949],"aabb_xy":[[0.24706445479027658,-0.9148491625431485],[0.25697649516003895,-0.8698491621389053]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.5204676183124795,1.4033210278137775,0.71338606911949],"aabb_xy":[[0.4554676173553524,1.3513728158800717],[0.5854676192696068,1.455269239747483]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.5566258516108811,0.06319717964628468,0.71338606911949],"aabb_xy":[[0.5066258505917459,0.026730963908456758],[0.6066258526300164,0.09966339538411265]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[-0.6491456962142839,1.596123523798202,0.71338606911949],"aabb_xy":[[-0.6710354438032247,1.506123526508953],[-0.6272559486253431,1.6861235210874512]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[0.369986058066913,1.1735222819246123,0.71338606911949],"aabb_xy":[[0.27998606156604117,1.1276106395061538],[0.4599860545677847,1.2194339243430703]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.180403138476801,0.3956124781874917,0.71338606911949],"aabb_xy":[[-0.19794983339291994,0.35811247662324047],[-0.16285644356068207,0.433112479751743]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.4746714056353547,0.6988072777642005,0.71338606911949],"aabb_xy":[[-0.4935557894038649,0.6799213529838478],[-0.4557870218668445,0.7176932025445534]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.3674415575761576,1.661268681743318,0.71338606911949],"aabb_xy":[[-0.41744083274459376,1.6112686804673708],[-0.31744228240772143,1.7112686830192652]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.6742327593174635,-1.162119380577568,0.71338606911949],"aabb_xy":[[0.6517336235912365,-1.184619381355831],[0.6967318950436905,-1.139619379799305]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[0.024047636178117893,0.9887905010325384,0.71338606911949],"aabb_xy":[[-0.039952364199415724,0.939045234181726],[0.08804763655565151,1.0385357678833507]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[0.39082797315736095,-0.20054031588699806,0.71338606911949],"aabb_xy":[[0.37262214949611333,-0.2115657164689897],[0.4090337968186087,-0.18951491530500642]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[-0.11804894976161151,-0.9364352054953025,0.71338606911949],"aabb_xy":[[-0.1830489508675548,-0.9614005785634309],[-0.05304894865566823,-0.9114698324271743]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[0.2529933261427898,0.8180343093429663,0.71338606911949],"aabb_xy":[[0.24122513934813228,0.7330343094377447],[0.2647615129374473,0.903034309248188]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[-0.5690711957834245,-1.2573446253522085,0.71338606911949],"aabb_xy":[[-0.5834056209095879,-1.269404840906747],[-0.554736770657261,-1.2452844097976694]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[-0.37950932520746167,-0.6771845306730939,0.71338606911949],"aabb_xy":[[-0.42950415813540327,-0.7271845295683375],[-0.32951449227952007,-0.6271845317778504]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[0.08194870424482037,-1.206390277012813,0.71338606911949],"aabb_xy":[[0.07661618959020737,-1.2117146052580485],[0.08728121889943334,-1.2010659487675774]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.3122711714543882,-0.6647491473730445,0.71338606911949],"aabb_xy":[[0.23227734787583,-0.7447491499658861],[0.39226499503294643,-0.584749144780203]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[-0.3755960699777626,0.32030364771933373,0.71338606911949],"aabb_xy":[[-0.38105401561478264,0.24030364441167457],[-0.3701381243407425,0.4003036510269928]]},{"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_20","position":[-0.13390681501782886,-1.5263922723796295,0.71338606911949],"aabb_xy":[[-0.2189068134352521,-1.6112665678419145],[-0.048906816600405634,-1.4415179769173445]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[-0.20127813674261769,-0.2710618116928316,0.71338606911949],"aabb_xy":[[-0.23877813753461313,-0.2774296526510217],[-0.16377813595062224,-0.2646939707346415]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[0.10611197422220209,-1.5727422494913366,0.71338606911949],"aabb_xy":[[0.08861204078821872,-1.5902422494115709],[0.12361190765618546,-1.5552422495711018]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[0.4753524832313285,-2.2067493126764806,0.71338606911949],"aabb_xy":[[0.440352484920633,-2.214464327600026],[0.510352481542024,-2.199034297752935]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[-0.10543390508209427,-2.2159039960904434,0.71338606911949],"aabb_xy":[[-0.16943390649008494,-2.2676929476143677],[-0.04143390367410361,-2.1641150445665183]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[-0.3809876983514394,0.9334681606745665,0.71338606911949],"aabb_xy":[[-0.39766483434453487,0.9167682367006362],[-0.36431056235834386,0.9501680846484968]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[0.5610251458692197,1.1754525543750058,0.71338606911949],"aabb_xy":[[0.5110301349097678,1.1254525553394141],[0.6110201568286718,1.2254525534105976]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_27","position":[-0.5033782864111842,-1.9093711723838394,0.71338606911949],"aabb_xy":[[-0.5142840624987468,-1.9893711687826685],[-0.4924725103236214,-1.8293711759850102]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[-0.47278754678874046,-1.6918974971243406,0.71338606911949],"aabb_xy":[[-0.480200002330129,-1.6977487075459683],[-0.46537509124735205,-1.6860462867027124]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[0.06165146602099636,0.6935686631813986,0.71338606911949],"aabb_xy":[[-0.022070759479086093,0.6035686596467027],[0.14537369152107882,0.7835686667160946]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_30","position":[0.4844346025728852,-0.709099740855015,0.71338606911949],"aabb_xy":[[0.4736616286515174,-0.744099739074054],[0.49520757649425295,-0.674099742635976]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_31","position":[0.27898962542792116,1.7215766162747248,0.71338606911949],"aabb_xy":[[0.24148962548415476,1.7132835262398882],[0.31648962537168757,1.7298697063095614]]}],"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":0.6515629373112738,"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/6084.png","name":"6084"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6084.png","name":"6084"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8991.png","name":"8991"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2282.png","name":"2282"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7838.png","name":"7838"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5061.png","name":"5061"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":762.9287083330003,"rotation_z_degrees":152.48086292085338,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014959682697342123,-0.0071067111058230655,0.001864033606331618]},{"name":"camera_2","offset_m":[0.018230690254054428,0.002845741027957732,-0.0036265723690294648]},{"name":"camera_3","offset_m":[0.018010662307169713,-0.013385145005535155,-0.019905232115847632]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004229349540536137,-0.0015310070443622639,0.0014173125701250847],"end_effector_yaw_offset_degrees":-0.9792873130425841},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017300220578008764,-0.0010449930685871049,0.0001303697501147164],"end_effector_yaw_offset_degrees":0.2980195731735127},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006560490545769477,-0.0011589888395393433,-0.0007923602380438001],"end_effector_yaw_offset_degrees":-0.7615005403808994}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017294746949334193,-0.00207781682144203],"position_m":[0.21657052530506657,0.26512218317855796,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019431431407456422,0.0003947056042166051],"position_m":[0.21615685685925434,-0.3550052943957834,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001959069660089354,0.00045471081692023945],"position_m":[0.31474093033991063,-0.058745289183079766,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024200402337988735,0.004375749227104116],"position_m":[0.35892004023379886,0.17027574922710412,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a659641d82e3783a83e196c120ce3c40a8fc1e42352e222b493961cd857c10f1","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0087.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6084/tex_ceiling_textures_5061/tex_floor_textures_7838/tex_table_textures_8991/tex_wall_textures_2282","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2783363983303491107,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2783363983303491107,"visual_seed":2783363983303491107,"scene_id":"lab_003","finished_at":"2026-09-04T20:06:07"} +{"episode_id":"ep_000088","started_at":"2026-09-04T20:06:13","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.43444220205163053,1.4180506087215146,0.71338606911949],"aabb_xy":[[0.3969422036282302,1.4048863947536836],[0.4719422004750309,1.431214822689345]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.04996088578715607,1.4621180143579093,0.71338606911949],"aabb_xy":[[0.03389895832863843,1.3771180125453175],[0.06602281324567372,1.5471180161705012]]},{"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_2","position":[-0.47521304713823587,-1.8923671445158718,0.71338606911949],"aabb_xy":[[-0.5052047098721062,-1.9223671438526722],[-0.4452213844043655,-1.862367145179071]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[0.1900897501357035,-2.1525274276550763,0.71338606911949],"aabb_xy":[[0.17188392647445583,-2.1635528282370684],[0.20829557379695118,-2.141502027073085]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.5371851883291816,0.15098392543001493,0.71338606911949],"aabb_xy":[[-0.5452988430025587,0.14287810897598585],[-0.5290715336558045,0.159089741884044]]},{"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_5","position":[-0.11715086582401446,-0.6656689331355308,0.71338606911949],"aabb_xy":[[-0.12644448406116504,-0.7031689316236647],[-0.10785724758686388,-0.6281689346473969]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[0.6540837875749621,0.5852346868259222,0.71338606911949],"aabb_xy":[[0.626238750794355,0.5544501880876106],[0.6819288243555692,0.616019185564234]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.2292456485047123,-1.5143492884460683,0.71338606911949],"aabb_xy":[[0.22200188245846694,-1.5943492866496705],[0.2364894145509576,-1.4343492902424657]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[-0.4216051799428318,-0.8660143579931823,0.71338606911949],"aabb_xy":[[-0.4715881301303111,-0.9160143576357426],[-0.3716222297553524,-0.8160143583506217]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[0.3061275697009549,-0.5277302933935055,0.71338606911949],"aabb_xy":[[0.2969676907570783,-0.5342615114370425],[0.3152874486448315,-0.5211990753499683]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[-0.055837337320194136,0.5771876214178033,0.71338606911949],"aabb_xy":[[-0.08038355294294484,0.5469387248687662],[-0.03129112169744341,0.6074365179668403]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[-0.06705358566120923,-1.1893966297181338,0.71338606911949],"aabb_xy":[[-0.13105358424778168,-1.2364035931176425],[-0.0030535870746367516,-1.142389666318625]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.1046779355417633,-1.8901562655417372,0.71338606911949],"aabb_xy":[[-0.14030709144172304,-1.9257889322985902],[-0.06904877964180356,-1.8545235987848843]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.512586959482498,1.3837299457988,0.71338606911949],"aabb_xy":[[-0.5260334861165413,1.3702600941457084],[-0.49914043284845466,1.397199797451891]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.09891820785917316,1.0930319395358739,0.71338606911949],"aabb_xy":[[-0.11641820810422253,1.0755321516963068],[-0.08141820761412376,1.1105317273754405]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[0.4094751396522147,0.63756298009505,0.71338606911949],"aabb_xy":[[0.374475138300733,0.6172032441382291],[0.44447514100369645,0.6579227160518708]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[-0.5082915679000342,-2.4784134016424026,0.71338606911949],"aabb_xy":[[-0.5882915664873535,-2.5577290035805635],[-0.42829156931271467,-2.3990977997042418]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[0.47735852962974135,-1.4349297302935777,0.71338606911949],"aabb_xy":[[0.4398585295241484,-1.441751892146559],[0.5148585297353343,-1.4281075684405968]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.5283179811824348,-0.366178572291604,0.71338606911949],"aabb_xy":[[-0.6183179806008056,-0.3995540691357936],[-0.4383179817640638,-0.33280307544741417]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.4391698553926668,1.8120949621616904,0.71338606911949],"aabb_xy":[[-0.45680269098619436,1.7944720161460677],[-0.4215370197991392,1.8297179081773136]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[0.4334987287526477,-1.8006043800987455,0.71338606911949],"aabb_xy":[[0.40301447862561757,-1.8506043798802416],[0.4639829788796779,-1.7506043803172497]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[-0.62543287219873,-1.6368783862549652,0.71338606911949],"aabb_xy":[[-0.6314698851993947,-1.6429050873239135],[-0.6193958591980653,-1.6308516851860173]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.45794832267815505,0.4017538991289977,0.71338606911949],"aabb_xy":[[-0.4635299943122838,0.3892538993112222],[-0.4523666510440263,0.41425389894677317]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[0.1508311414812764,1.6938568622851577,0.71338606911949],"aabb_xy":[[0.10083630855333481,1.6438568633899147],[0.200825974409218,1.7438568611804017]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[0.588129552433458,-0.6520003287815279,0.71338606911949],"aabb_xy":[[0.5265387932094652,-0.7160003268905749],[0.6497203116574508,-0.5880003306724811]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[0.07638262212246072,0.975840884963104,0.71338606911949],"aabb_xy":[[0.026382621103325447,0.9393746692252762],[0.12638262314159598,1.012307100700932]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[-0.45112844004724295,1.0535976524257658,0.71338606911949],"aabb_xy":[[-0.4756420641442488,1.0293330591237293],[-0.4266148159502371,1.0778622457278022]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_27","position":[-0.34470221548709024,0.6549574578285307,0.71338606911949],"aabb_xy":[[-0.3528299036804035,0.646043849417823],[-0.33657452729377707,0.6638710662392383]]}],"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":0.6501726898021309,"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/8218.png","name":"8218"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8218.png","name":"8218"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1956.png","name":"1956"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2835.png","name":"2835"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8356.png","name":"8356"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8075.png","name":"8075"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":683.8287972550444,"rotation_z_degrees":250.60587988478375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004821795600016316,-0.01242894045662224,-0.005355821954741123]},{"name":"camera_2","offset_m":[-0.013179433289364929,-0.01606041955552674,-0.009851057633271107]},{"name":"camera_3","offset_m":[0.005759900439058125,0.004440021682401964,0.010941754986009022]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00024454440038019446,-0.001546654555632077,-0.0008777014913371377],"end_effector_yaw_offset_degrees":-0.7605786760344913},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003167348217696228,-0.0012156347391951967,0.00024781410721382664],"end_effector_yaw_offset_degrees":0.7251849867367113},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011111886876929542,0.0008248749951085058,-0.0012436786890617415],"end_effector_yaw_offset_degrees":0.2166431394514059}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036936923498597455,0.004274291430443678],"position_m":[0.21460630765014024,0.27147429143044366,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003395476503733708,0.00037507504320733603],"position_m":[0.2214954765037337,-0.35502492495679266,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00036320113625184017,0.0015251551840264341],"position_m":[0.3170632011362518,-0.05767484481597357,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001672645912797097,0.001801043563631091],"position_m":[0.35817264591279707,0.16770104356363108,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9df03c4da4c25e162cfac823f3fe8c5175d3cf1267c885d6072421f05a35d1d9","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8218/tex_ceiling_textures_8075/tex_floor_textures_8356/tex_table_textures_1956/tex_wall_textures_2835","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":251877298316961702,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":251877298316961702,"visual_seed":251877298316961702,"scene_id":"lab_003","finished_at":"2026-09-04T20:09:04"} +{"episode_id":"ep_000089","started_at":"2026-09-04T20:09:08","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[0.5476889945009094,0.7793399910185697,0.71338606911949],"aabb_xy":[[0.4836889942404385,0.7343311916656416],[0.6116889947613801,0.8243487903714977]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.49556778836518156,-0.042258500876728444,0.71338606911949],"aabb_xy":[[-0.5655677917567434,-0.0775742745801593],[-0.4255677849736195,-0.0069427271732975795]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.5205411813122067,1.0606277362880778,0.71338606911949],"aabb_xy":[[-0.5468300056326474,1.0343563026334264],[-0.4942523569917661,1.0868991699427288]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[-0.41885515680585966,-0.8887799768224731,0.71338606911949],"aabb_xy":[[-0.4828551553924322,-0.9357869402219818],[-0.35485515821928726,-0.8417730134229644]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.5496228880395384,-2.2259740933537873,0.71338606911949],"aabb_xy":[[-0.5996016965498543,-2.2759740933595056],[-0.4996440795292225,-2.175974093348068]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.43666275938321153,0.4489341747699629,0.71338606911949],"aabb_xy":[[0.42321623274916814,0.43546432311687167],[0.4501092860172548,0.4624040264230541]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[0.47416175091272383,-2.567962973778011,0.71338606911949],"aabb_xy":[[0.4678496513763854,-2.57372991303123],[0.48047385044906227,-2.5621960345247925]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[-0.3222613672733129,1.3162285033290084,0.71338606911949],"aabb_xy":[[-0.3722456029814901,1.266228504515513],[-0.27227713156513567,1.3662285021425042]]},{"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_8","position":[-0.07127369151911445,1.1992636712475253,0.71338606911949],"aabb_xy":[[-0.10718719594410411,1.1633501630307708],[-0.03536018709412475,1.2351771794642799]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[-0.2115285762714203,-0.2957152497516895,0.71338606911949],"aabb_xy":[[-0.2915285777015475,-0.375232404764299],[-0.1315285748412931,-0.21619809473908003]]},{"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_10","position":[0.37269064307704225,-1.9498007343951855,0.71338606911949],"aabb_xy":[[0.33519064290517026,-1.9825014697780925],[0.41019064324891413,-1.9170999990122781]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.2918161911005086,-1.2047462657653039,0.71338606911949],"aabb_xy":[[0.2845724250542633,-1.2847462639689062],[0.29905995714675393,-1.1247462675617015]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.5241854247902911,0.97594812047087,0.71338606911949],"aabb_xy":[[0.46018542562052117,0.9291814333519075],[0.588185423960061,1.0227148075898325]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.38539292605629827,1.0304757997400058,0.71338606911949],"aabb_xy":[[-0.39280538159768674,1.0246245893183779],[-0.3779804705149098,1.0363270101616338]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.31005689849289586,-1.1387937798751626,0.71338606911949],"aabb_xy":[[-0.33364202195679077,-1.2037937821205946],[-0.28647177502900106,-1.073793777629731]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[0.041317983397038516,-1.1393044248956252,0.71338606911949],"aabb_xy":[[0.02938524903521044,-1.1516865777034846],[0.05325071775886658,-1.1269222720877659]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.5218901260521938,-2.172438422435631,0.71338606911949],"aabb_xy":[[0.5092633387649973,-2.181984496137204],[0.53451691333939,-2.162892348734058]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[0.6652030003594773,-1.95446967895937,0.71338606911949],"aabb_xy":[[0.6433132527705365,-2.0444696762486188],[0.6870927479484181,-1.8644696816701207]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[0.12210358607767868,-2.469196601888455,0.71338606911949],"aabb_xy":[[0.08862441881663774,-2.5026757152595622],[0.15558275333871963,-2.4357174885173483]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.5042025103838643,-0.15241920029429368,0.71338606911949],"aabb_xy":[[-0.5942025098022351,-0.18579469713848337],[-0.4142025109654933,-0.11904370345010393]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.4042803630763709,0.887467011402185,0.71338606911949],"aabb_xy":[[-0.43928036442785257,0.8671072754453641],[-0.3692803617248891,0.9078267473590058]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[-0.4749119337115333,-0.6589269686532766,0.71338606911949],"aabb_xy":[[-0.4790278838236059,-0.6630425236861219],[-0.47079598359946057,-0.6548114136204308]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[0.5928238012513682,0.8804776350142904,0.71338606911949],"aabb_xy":[[0.5578238029406728,0.8727626200907448],[0.6278237995620637,0.8881926499378361]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[0.5431926681495249,-0.15181824883087902,0.71338606911949],"aabb_xy":[[0.4791926688553567,-0.21580438919973322],[0.6071926674436932,-0.08783210846202483]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_24","position":[0.681833567453626,1.0548649800338468,0.71338606911949],"aabb_xy":[[0.674793257520089,0.9748649806341756],[0.688873877387163,1.1348649794335184]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[-0.14655683135595865,-0.9815327104837599,0.71338606911949],"aabb_xy":[[-0.1840568321479541,-0.9879005514419499],[-0.1090568305639632,-0.9751648695255697]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[-0.07750729958602198,1.7655386398152761,0.71338606911949],"aabb_xy":[[-0.09460937754439014,1.7484318342840064],[-0.06040522162765383,1.782645445346546]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_27","position":[-0.29210492837969054,1.655988693067965,0.71338606911949],"aabb_xy":[[-0.34710492755628,1.6009990182930074],[-0.237104929203101,1.7109783678429227]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_28","position":[-0.10324840634947652,1.5846319543418619,0.71338606911949],"aabb_xy":[[-0.1682484074554198,1.5596665812737336],[-0.038248405243533234,1.6095973274099902]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_29","position":[0.5720711314290761,1.2830687846961744,0.71338606911949],"aabb_xy":[[0.5350370220010163,1.248691577362465],[0.6091052408571358,1.3174459920298838]]}],"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":0.6474949340594207,"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/7941.png","name":"7941"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7941.png","name":"7941"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4354.png","name":"4354"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6913.png","name":"6913"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/270.png","name":"270"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4522.png","name":"4522"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":547.3500028234556,"rotation_z_degrees":308.6128052161618,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008938977765949652,0.0088587986841837,0.00023289544411670207]},{"name":"camera_2","offset_m":[-0.005802178230850826,-0.009872856760325406,-0.018276390468195985]},{"name":"camera_3","offset_m":[-0.011518144262935319,-0.011140106893784418,-0.009687661997408972]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000212051262178757,-0.0016286025675661447,-0.0005607064221730385],"end_effector_yaw_offset_degrees":-0.31370672734622196},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008714833126256365,-0.0007562292458158932,6.0671981496445305e-05],"end_effector_yaw_offset_degrees":0.4186617736347851},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002044810473196745,-0.0017157105434464604,-0.0011798038741026172],"end_effector_yaw_offset_degrees":-0.09274062778885495}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0035824384815237855,0.0015829341126700211],"position_m":[0.2147175615184762,0.26878293411267,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022761666454607,-0.0033280268490839503],"position_m":[0.21582383335453928,-0.35872802684908395,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00416215899434101,-0.0004926896628305085],"position_m":[0.31253784100565896,-0.05969268966283051,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003816596757429255,-0.0038226698659606473],"position_m":[0.3568816596757429,0.16207733013403935,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d80c15f9ce2bb2138c32a96444c7fdd73478fb71c2d167f95138049396a1dfd","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0089.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7941/tex_ceiling_textures_4522/tex_floor_textures_270/tex_table_textures_4354/tex_wall_textures_6913","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6661936388602792087,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6661936388602792087,"visual_seed":6661936388602792087,"scene_id":"lab_003","finished_at":"2026-09-04T20:12:02"} +{"episode_id":"ep_000090","started_at":"2026-09-04T20:12:06","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.49127254129443915,0.49076185504149317,0.71338606911949],"aabb_xy":[[-0.540752962508398,0.42676185712864134],[-0.44179212008048035,0.554761852954345]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[0.13096888381904892,1.537456585585471,0.71338606911949],"aabb_xy":[[0.08096888345848287,1.4874765983758678],[0.18096888417961499,1.5874365727950737]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.29784009534934486,-1.3016710879172315,0.71338606911949],"aabb_xy":[[0.20784009301532586,-1.3791534425023444],[0.38784009768336397,-1.224188733332119]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[0.6557355341276985,0.4933622552990453,0.71338606911949],"aabb_xy":[[0.6461038979072689,0.4837249425193364],[0.6653671703481281,0.5029995680787542]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.6433072139296028,-0.2506654735543665,0.71338606911949],"aabb_xy":[[-0.6557745720393385,-0.2631307981876901],[-0.6308398558198672,-0.23820014892104308]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.11825909615645969,-1.2921071365170693,0.71338606911949],"aabb_xy":[[-0.16434418741119117,-1.3561071337696244],[-0.0721740049017282,-1.2281071392645142]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.558868313673768,0.7095855916087825,0.71338606911949],"aabb_xy":[[-0.6488683173506861,0.6481531850316781],[-0.4688683099968497,0.7710179981858867]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.3990094074275392,1.522091022445418,0.71338606911949],"aabb_xy":[[0.36167813090229667,1.4874379676505658],[0.43634068395278186,1.5567440772402703]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.4091574981990013,-0.07552060992398468,0.71338606911949],"aabb_xy":[[-0.43106618033835226,-0.09742127674407541],[-0.38724881605965017,-0.05361994310389395]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[-0.2718325402681024,-0.11392520875659518,0.71338606911949],"aabb_xy":[[-0.2887432727044441,-0.12739741434920968],[-0.25492180783176055,-0.10045300316398063]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[0.409997410220164,-0.5988285771738837,0.71338606911949],"aabb_xy":[[0.38753264024875883,-0.6213285780527441],[0.43246218019156907,-0.5763285762950231]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[-0.08428607768564056,-1.0448631839951632,0.71338606911949],"aabb_xy":[[-0.0898677493197693,-1.0573631838129387],[-0.07870440605151179,-1.0323631841773877]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.5625250953261229,1.0437158252002416,0.71338606911949],"aabb_xy":[[-0.5722810848352967,1.033953291141007],[-0.5527691058169489,1.0534783592594759]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.23524062708047444,-0.22050056618593805,0.71338606911949],"aabb_xy":[[-0.25815633996552434,-0.2434048633223616],[-0.21232491419542454,-0.1975962690495146]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[0.5267007113859612,-0.16603802288058223,0.71338606911949],"aabb_xy":[[0.5225847612738884,-0.1701535779134277],[0.5308166614980337,-0.1619224678477367]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.5645239627616052,-2.0782956688040066,0.71338606911949],"aabb_xy":[[-0.6295239637621057,-2.1290820339586816],[-0.4995239617611047,-2.0275093036493317]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[0.40329842589720166,-2.3895866276149484,0.71338606911949],"aabb_xy":[[0.3533141901890244,-2.439586626428444],[0.45328266160537883,-2.339586628801453]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.60550829780937,-0.7313296002073795,0.71338606911949],"aabb_xy":[[0.5415082964013793,-0.7831185517313042],[0.6695082992173607,-0.6795406486834548]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.4610492272783959,-0.6479875081666158,0.71338606911949],"aabb_xy":[[-0.48604922655035826,-0.6643328717627781],[-0.4360492280064337,-0.6316421445704534]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[0.04097940496476071,-1.0446769821806856,0.71338606911949],"aabb_xy":[[0.01597940503224282,-1.051559650401609],[0.0659794048972786,-1.0377943139597623]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.23712306334854844,1.4854365316313705,0.71338606911949],"aabb_xy":[[-0.28709635735180883,1.4354365310768231],[-0.18714976934528796,1.5354365321859178]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[0.5583711682571815,-0.42252344374750317,0.71338606911949],"aabb_xy":[[0.5131998504090126,-0.4865234408920417],[0.6035424861053506,-0.3585234466029648]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.22670582566704794,-1.595644899088367,0.71338606911949],"aabb_xy":[[-0.2360528332493432,-1.609948521306011],[-0.21735881808475274,-1.581341276870723]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[0.14877820275146436,0.9512713625644449,0.71338606911949],"aabb_xy":[[0.1144812917337237,0.9169744763545037],[0.18307511376920496,0.9855682487743863]]}],"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":0.6496971978877006,"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/7478.png","name":"7478"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7478.png","name":"7478"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1706.png","name":"1706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/33.png","name":"33"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1289.png","name":"1289"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4201.png","name":"4201"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":757.7583838209782,"rotation_z_degrees":56.43481955906878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018197332286771895,-0.012687045480177243,-0.008500659297289897]},{"name":"camera_2","offset_m":[0.01979777825260445,-0.015119174745053577,-0.006829256544795589]},{"name":"camera_3","offset_m":[0.017820514767015783,-0.013911844555368145,-0.008332969578878541]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003436024626889895,-0.0007338573619035014,-0.0012777681583434522],"end_effector_yaw_offset_degrees":0.17588477766449317},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011595402839448283,0.0017887308778153149,0.0002831354154524857],"end_effector_yaw_offset_degrees":-0.5286904534692503},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018307144691146306,0.0015006971953418335,0.0006971826658470339],"end_effector_yaw_offset_degrees":-0.10333221157430317}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003800585033885951,-2.008248091276907e-05],"position_m":[0.22210058503388594,0.2671799175190872,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004290364166612143,-0.002033733927112812],"position_m":[0.21380963583338786,-0.3574337339271128,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004505848482018211,0.002711760602498844],"position_m":[0.3212058484820182,-0.05648823939750116,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011222704188370413,0.002018793320227609],"position_m":[0.35762227041883704,0.1679187933202276,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"afa5cb934cf49b2090d9f0050fb73a63b9fbad31e1f4c381c8f04b36a6f59a62","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7478/tex_ceiling_textures_4201/tex_floor_textures_1289/tex_table_textures_1706/tex_wall_textures_33","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7789690247353416529,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7789690247353416529,"visual_seed":7789690247353416529,"scene_id":"lab_003","finished_at":"2026-09-04T20:15:03"} +{"episode_id":"ep_000091","started_at":"2026-09-04T20:15:06","dimensions":{"distractor":{"count":35,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.37219270742660693,-2.1223348689331694,0.71338606911949],"aabb_xy":[[0.3649103910499431,-2.212334872542678],[0.3794750238032704,-2.03233486532366]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[0.3927284171622851,1.1576038189261215,0.71338606911949],"aabb_xy":[[0.3584315061445445,1.12330693271618],[0.42702532818002575,1.1919007051360626]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.09097858634654366,-2.4408241728359426,0.71338606911949],"aabb_xy":[[0.0012915100384282147,-2.5308241730903935],[0.1806656626546591,-2.3508241725814925]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.4135894311728081,-0.5300483640588931,0.71338606911949],"aabb_xy":[[-0.4208506787432155,-0.5428353743224027],[-0.4063281836024007,-0.5172613537953837]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[-0.6233062974091482,0.9642194604485019,0.71338606911949],"aabb_xy":[[-0.6483062966811104,0.9478740968523395],[-0.5983062981371858,0.9805648240446642]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[-0.31504573319882434,1.7013360238463977,0.71338606911949],"aabb_xy":[[-0.3262907887694421,1.6900942261223024],[-0.30380067762820645,1.712577821570493]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.6520926501430587,1.187685575623143,0.71338606911949],"aabb_xy":[[-0.673370658286531,1.1226855732970697],[-0.6308146419995865,1.2526855779492159]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.02314903867015694,1.4546360998705272,0.71338606911949],"aabb_xy":[[-0.11314903540576715,1.4014526365532325],[0.06685095806545327,1.5078195631878215]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[-0.20983183295005392,1.460392533659586,0.71338606911949],"aabb_xy":[[-0.2298902445632942,1.4403274467504283],[-0.18977342133681363,1.4804576205687432]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.5569024313533926,-1.0665703143422984,0.71338606911949],"aabb_xy":[[0.47690242808937944,-1.0801303466512118],[0.6369024346174057,-1.053010282033385]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.29568609208017393,-1.706799962769444,0.71338606911949],"aabb_xy":[[0.28626861751031113,-1.7162161399071632],[0.30510356665003663,-1.697383785631725]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.5281517890129628,1.6924025375697194,0.71338606911949],"aabb_xy":[[0.49165596838568404,1.655918595142962],[0.5646476096402415,1.7288864799964772]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[0.7117640546553565,-0.03711958244945812,0.71338606911949],"aabb_xy":[[0.7040608639812795,-0.04482895314819613],[0.7194672453294335,-0.029410211750720117]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.555415777639405,-0.4514716924318005,0.71338606911949],"aabb_xy":[[-0.6154157785002177,-0.5028981224382869],[-0.4954157767785921,-0.40004526242531413]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.4373127728573448,-1.8570190363524506,0.71338606911949],"aabb_xy":[[-0.5173127750201072,-1.9369742199785938],[-0.3573127706945822,-1.7770638527263065]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[0.6227349982707779,0.25883202950602424,0.71338606911949],"aabb_xy":[[0.5877349991408223,0.25308680843036013],[0.6577349974007336,0.26457725058168835]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.22358103020219677,-2.501228322508036,0.71338606911949],"aabb_xy":[[-0.24386533292559553,-2.521510947650744],[-0.203296727478798,-2.4809456973653266]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.19884284224917315,0.643411047640047,0.71338606911949],"aabb_xy":[[-0.2097486183367359,0.5634110512412178],[-0.18793706616161046,0.7234110440388761]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[0.6047873079271071,-2.277060234203437,0.71338606911949],"aabb_xy":[[0.5932183271801705,-2.302060234320369],[0.6163562886740437,-2.2520602340865055]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.3326923364597326,-1.3760957361143495,0.71338606911949],"aabb_xy":[[-0.3821727576736914,-1.4400957340272014],[-0.2832119152457738,-1.3120957382014977]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.0666384436346984,-1.4113004555955355,0.71338606911949],"aabb_xy":[[0.023871736755278206,-1.475300459017338],[0.10940515051411859,-1.347300452173733]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[0.051072735468920105,-1.8499086839722905,0.71338606911949],"aabb_xy":[[0.001099669936404646,-1.8999086837848234],[0.10104580100143559,-1.7999086841597576]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[-0.4471600445461507,1.4442455493400215,0.71338606911949],"aabb_xy":[[-0.5271600419497441,1.3642529781418387],[-0.36716004714255723,1.5242381205382043]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[0.5422783393300135,-2.0921140001650715,0.71338606911949],"aabb_xy":[[0.4822783376870915,-2.1441141494570157],[0.6022783409729352,-2.0401138508731274]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[-0.27798670097540507,-0.8587151700591276,0.71338606911949],"aabb_xy":[[-0.34298670208134835,-0.8836805431272559],[-0.21298669986946178,-0.8337497969909993]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[0.44164013426787285,-1.4602149325632716,0.71338606911949],"aabb_xy":[[0.3616401328377456,-1.5397320875758806],[0.521640135698,-1.3806977775506617]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[-0.2709047112408389,-0.6847987417071462,0.71338606911949],"aabb_xy":[[-0.282837445602667,-0.6971808945150055],[-0.25897197687901086,-0.6724165888992868]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_27","position":[-0.39831210515000887,-0.4302343887122233,0.71338606911949],"aabb_xy":[[-0.415414183108377,-0.44734119424349306],[-0.3812100271916407,-0.41312758318095355]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_28","position":[0.320996747899545,1.631861419075054,0.71338606911949],"aabb_xy":[[0.2834967471075495,1.6254935781168638],[0.3584967486915404,1.6382292600332442]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_29","position":[0.019593650380750338,1.2570788816282423,0.71338606911949],"aabb_xy":[[-0.008251386399856786,1.2262943828899306],[0.04743868716135746,1.287863380366554]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_30","position":[0.23239109429437288,-1.492678128722653,0.71338606911949],"aabb_xy":[[0.22497863875298438,-1.4985293391442807],[0.23980354983576133,-1.4868269183010248]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_31","position":[-0.29982143855437243,-2.365217647325431,0.71338606911949],"aabb_xy":[[-0.38982143505524414,-2.4111292897438887],[-0.20982144205350065,-2.3193060049069723]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_32","position":[0.2848674020668769,1.3891903777953756,0.71338606911949],"aabb_xy":[[0.24736740224984333,1.3845521664842337],[0.32236740188391044,1.3938285891065174]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_33","position":[-0.2823814012493563,1.2218475455367472,0.71338606911949],"aabb_xy":[[-0.2932218794758712,1.2046612642460985],[-0.2715409230228414,1.239033826827396]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_34","position":[-0.5717262121438178,-1.3418310844254278,0.71338606911949],"aabb_xy":[[-0.6085208452687241,-1.37873695952201],[-0.5349315790189115,-1.3049252093288455]]}],"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":0.6511962432427632,"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/4675.png","name":"4675"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4675.png","name":"4675"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5909.png","name":"5909"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9847.png","name":"9847"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6464.png","name":"6464"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9406.png","name":"9406"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":550.0998328268815,"rotation_z_degrees":357.37152267167744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0038284276348167987,0.017712427189114994,-0.00777708335117039]},{"name":"camera_2","offset_m":[-0.01712654984456933,0.012865449061286557,0.014603690035638061]},{"name":"camera_3","offset_m":[-0.018127373543158697,-0.015630995582632302,-0.016054067551442248]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009330358876740291,0.0004291602045558697,-0.00047983652301728744],"end_effector_yaw_offset_degrees":0.2637305363087872},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018912063345776114,0.000226779905136058,-0.00045961756561023036],"end_effector_yaw_offset_degrees":-0.9967072390644791},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018696591595956664,0.001115991438710134,-0.0017505102588856647],"end_effector_yaw_offset_degrees":0.7202655948701087}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004950195960227452,-0.0037082136722559646],"position_m":[0.21780498040397725,0.263491786327744,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001748127037738093,0.001782171722367244],"position_m":[0.21635187296226188,-0.3536178282776328,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002705148650381033,-0.0021589086879658347],"position_m":[0.319405148650381,-0.06135890868796584,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003965702431260387,-0.002898368894605691],"position_m":[0.36046570243126036,0.1630016311053943,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d32beba5bc476c2246b68d68e57fc9567f29c8dbd839f8dc2bfd56445669cb7f","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4675/tex_ceiling_textures_9406/tex_floor_textures_6464/tex_table_textures_5909/tex_wall_textures_9847","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8213476822456601261,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8213476822456601261,"visual_seed":8213476822456601261,"scene_id":"lab_003","finished_at":"2026-09-04T20:17:54"} +{"episode_id":"ep_000092","started_at":"2026-09-04T20:17:57","dimensions":{"distractor":{"count":32,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.5154816151737545,-0.3183147493244398,0.71338606911949],"aabb_xy":[[0.4254816154505801,-0.3413881018596196],[0.6054816148969284,-0.2952413967892599]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.5902662851212965,-2.4456365375375646,0.71338606911949],"aabb_xy":[[-0.654266287033639,-2.501547686795575],[-0.5262662832089543,-2.389725388279554]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[-0.14885786711503968,0.03777648586437454,0.71338606911949],"aabb_xy":[[-0.17177358000008958,0.014872188727951045],[-0.12594215422998978,0.06068078300079806]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.21859100688115407,1.2151978795197973,0.71338606911949],"aabb_xy":[[0.16860805669367473,1.1651978798772367],[0.2685739570686334,1.2651978791623575]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.5188261462688804,1.6739053826454229,0.71338606911949],"aabb_xy":[[0.49632614625873206,1.6598091630058196],[0.5413261462790286,1.6880016022850262]]},{"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_5","position":[0.34385040109534626,-1.1258544710017684,0.71338606911949],"aabb_xy":[[0.3345567828581956,-1.1633544694899023],[0.3531440193324968,-1.0883544725136345]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.1166304018517399,-1.750601884954516,0.71338606911949],"aabb_xy":[[-0.1509273128694805,-1.784898771164457],[-0.08233349083399924,-1.7163049987445744]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.029523157557272195,-1.7097743572912394,0.71338606911949],"aabb_xy":[[0.023556618616536403,-1.7157355019506033],[0.03548969649800798,-1.7038132126318755]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.2676146576123366,1.6890256746101007,0.71338606911949],"aabb_xy":[[-0.2851146568904234,1.6716875745437547],[-0.2501146583342497,1.7063637746764466]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.17931657925987077,-2.019301709386102,0.71338606911949],"aabb_xy":[[0.15147154247926362,-2.0500862081244136],[0.20716161604047786,-1.9885172106477902]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[0.6974530001592611,0.30155747236641384,0.71338606911949],"aabb_xy":[[0.6799530667252778,0.2840574724461793],[0.7149529335932445,0.3190574722866484]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[0.5628993617048388,-0.7730835795619342,0.71338606911949],"aabb_xy":[[0.4828993631175193,-0.8523991815000951],[0.6428993602921581,-0.6937679776237733]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[0.15883484787156632,-1.7155050784615349,0.71338606911949],"aabb_xy":[[0.143662678589933,-1.7306739353897382],[0.1740070171531997,-1.7003362215333315]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[0.010751860817900694,-1.9028552633637092,0.71338606911949],"aabb_xy":[[-0.05924814257366128,-1.93817103706714],[0.08075186420946266,-1.8675394896602782]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.6755421346736445,0.6862001594021896,0.71338606911949],"aabb_xy":[[0.6552578319502456,0.6659175342594806],[0.6958264373970431,0.7064827845448983]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[0.30848675137170556,1.3772888334954074,0.71338606911949],"aabb_xy":[[0.28490162790781076,1.3122888312499756],[0.33207187483560047,1.4422888357408392]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.36164854267816954,1.4729314387153631,0.71338606911949],"aabb_xy":[[-0.37919523759428847,1.4354314371511119],[-0.3441018477620506,1.5104314402796144]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.45125227600220086,0.8937221263517561,0.71338606911949],"aabb_xy":[[-0.501252274648122,0.8438025826922938],[-0.4012522773562796,0.9436416700112186]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[0.17098463059780955,1.4435346462725094,0.71338606911949],"aabb_xy":[[0.15340632840886273,1.4259601566984044],[0.18856293278675643,1.4611091358466144]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[0.0746817267327543,1.7207807923813365,0.71338606911949],"aabb_xy":[[0.06655403853944108,1.7118671839706288],[0.08280941492606753,1.7296944007920443]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.0758009781356569,-2.3736521508427697,0.71338606911949],"aabb_xy":[[0.06392889512415578,-2.45865215053642],[0.087673061147158,-2.2886521511491194]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[-0.024744145665875572,0.8899816966662253,0.71338606911949],"aabb_xy":[[-0.07875974194777557,0.8259816937739681],[0.029271450616024434,0.9539816995584824]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[0.265334297567171,-2.094040747981451,0.71338606911949],"aabb_xy":[[0.25829398763363404,-2.174040747381123],[0.272374607500708,-2.01404074858178]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.453534118171686,-0.23645390160362156,0.71338606911949],"aabb_xy":[[-0.4704448506080277,-0.2499261071962361],[-0.43662338573534415,-0.22298169601100704]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[0.571507858623199,-0.46012893544262035,0.71338606911949],"aabb_xy":[[0.537191581448581,-0.5101289354157982],[0.6058241357978169,-0.41012893546944273]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[-0.26004665960757056,-0.8630498608489658,0.71338606911949],"aabb_xy":[[-0.27088713783408547,-0.8802361421396145],[-0.24920618138105566,-0.8458635795583169]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[-0.5463510803976971,-0.4204845525035288,0.71338606911949],"aabb_xy":[[-0.6103510836163352,-0.46720766440253714],[-0.48235107717905945,-0.37376144060452043]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_27","position":[0.31064382518460265,0.46470739818279805,0.71338606911949],"aabb_xy":[[0.3033615088079389,0.37470739457328894],[0.3179261415612662,0.5547074017923068]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[0.4319743915134997,0.9626528930678075,0.71338606911949],"aabb_xy":[[0.42493294056275205,0.9556261413300131],[0.43901584246424724,0.9696796448056022]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[-0.6702740954783396,-2.1959049516937936,0.71338606911949],"aabb_xy":[[-0.6849175010323726,-2.210563671350578],[-0.6556306899243066,-2.1812462320370094]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_30","position":[0.4221489304466286,-0.22073484306624458,0.71338606911949],"aabb_xy":[[0.40024024830727756,-0.24263550988633528],[0.44405761258597964,-0.19883417624615382]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_31","position":[-0.46813210410308953,0.4492615879338575,0.71338606911949],"aabb_xy":[[-0.4964618140516297,0.44480084574014045],[-0.43980239415454925,0.45372233012757457]]}],"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":0.6525268202330788,"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/4590.png","name":"4590"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4590.png","name":"4590"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1683.png","name":"1683"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8154.png","name":"8154"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5131.png","name":"5131"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1463.png","name":"1463"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":747.8392920025792,"rotation_z_degrees":271.5942944235485,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016433761171739527,-0.009539169628013653,-0.0074875890783214945]},{"name":"camera_2","offset_m":[-0.009118031962790379,0.01653179316778103,-0.0019043976138313004]},{"name":"camera_3","offset_m":[0.011395568519507331,-0.010026958550263556,0.01130027844699696]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005218277953081382,0.0017028690871161841,-0.0019852896823664575],"end_effector_yaw_offset_degrees":0.02414141650821522},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019039495065543881,-0.00015287007197521555,0.00047412538487677427],"end_effector_yaw_offset_degrees":0.27825770322638865},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00163076150582468,0.0012867868675897854,0.0015714032088379858],"end_effector_yaw_offset_degrees":0.6235353721601622}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017502740499328309,0.0017105717070351398],"position_m":[0.21654972595006716,0.26891057170703514,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003853353547322317,0.001263273480728324],"position_m":[0.21424664645267766,-0.3541367265192717,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0022304264714347747,0.0007718419167310041],"position_m":[0.31893042647143477,-0.058428158083269,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004773121321645279,-0.0007168172159514267],"position_m":[0.36127312132164524,0.16518318278404856,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"73e938bb6e945daa28ae8b3a0a051955875404abade1dd0e8f4aca56a3344f19","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0092.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4590/tex_ceiling_textures_1463/tex_floor_textures_5131/tex_table_textures_1683/tex_wall_textures_8154","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1894220619083299350,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1894220619083299350,"visual_seed":1894220619083299350,"scene_id":"lab_003","finished_at":"2026-09-04T20:20:53"} +{"episode_id":"ep_000093","started_at":"2026-09-04T20:20:56","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[-0.5384895388132087,-1.43077204351796,0.71338606911949],"aabb_xy":[[-0.5426253951459089,-1.468272042962317],[-0.5343536824805085,-1.393272044073603]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[-0.07646375554851392,1.3524658441956605,0.71338606911949],"aabb_xy":[[-0.08703123520661293,1.341920814082652],[-0.06589627589041491,1.363010874308669]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.4163540722982075,-1.9268753768068374,0.71338606911949],"aabb_xy":[[-0.4257715468680702,-1.9362915539445564],[-0.40693659772834473,-1.9174591996691184]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.25577454272388866,0.7413339578266354,0.71338606911949],"aabb_xy":[[0.238764445433838,0.7251994693283614],[0.2727846400139393,0.7574684463249093]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.6880909690405992,-2.5179545164674764,0.71338606911949],"aabb_xy":[[0.6714138330475037,-2.5346544404414066],[0.7047681050336947,-2.501254592493546]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.37998655435224676,-2.474576495487553,0.71338606911949],"aabb_xy":[[-0.429970790060424,-2.5245764943010487],[-0.33000231864406954,-2.4245764966740575]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[0.5722244033845947,0.34951243428311596,0.71338606911949],"aabb_xy":[[0.5122244027885785,0.2946999617378925],[0.6322244039806109,0.40432490682833944]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.12206366170142113,-1.001643835022589,0.71338606911949],"aabb_xy":[[-0.1339963960632492,-1.0140259878304483],[-0.11013092733959305,-0.9892616822147295]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.6057425465328821,-0.36022071652986876,0.71338606911949],"aabb_xy":[[-0.6697382439279785,-0.42422071483057744],[-0.5417468491377854,-0.2962207182291601]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.4209324127296328,-0.38152244180560624,0.71338606911949],"aabb_xy":[[-0.4384791076457517,-0.41902244336985744],[-0.40338571781351384,-0.3440224402413549]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[-0.5531365737250015,0.0023953526812476866,0.71338606911949],"aabb_xy":[[-0.6171365741025351,-0.04734991416956458],[-0.48913657334746785,0.05214061953205995]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[-0.4975914379898344,0.6857602921712171,0.71338606911949],"aabb_xy":[[-0.5386093813762053,0.6357602915402597],[-0.4565734946034635,0.7357602928021744]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.2328759282298662,0.7478566696871285,0.71338606911949],"aabb_xy":[[-0.2828759276700618,0.6978887452028121],[-0.18287592878967057,0.7978245941714447]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[0.27112941277637304,0.5259005500786547,0.71338606911949],"aabb_xy":[[0.26617339259149186,0.503400549876533],[0.2760854329612542,0.5484005502807763]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[-0.012341552933408106,1.2078119397549925,0.71338606911949],"aabb_xy":[[-0.049841553225582924,1.2037704643543892],[0.02515844735876671,1.2118534151555962]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.2986993281196957,-0.14609134652222,0.71338606911949],"aabb_xy":[[-0.33369932801571456,-0.15446558203415992],[-0.2636993282236768,-0.13771711101028003]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[0.02726892900210187,-2.403313057067024,0.71338606911949],"aabb_xy":[[0.005096402025451033,-2.4254887242231464],[0.0494414559787527,-2.3811373899109003]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[-0.0826882811692754,-0.27109097144291283,0.71338606911949],"aabb_xy":[[-0.10048178810419184,-0.2888907170387105],[-0.06489477423435897,-0.25329122584711516]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[0.595105005328266,1.0530013384899979,0.71338606911949],"aabb_xy":[[0.5311050021096282,1.0062782265909895],[0.6591050085469039,1.0997244503890062]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.4201122656266867,0.02004530005378813,0.71338606911949],"aabb_xy":[[0.41211827704898324,0.01204521995869778],[0.42810625420439,0.02804538014887847]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.4213059928055056,-2.136417065718607,0.71338606911949],"aabb_xy":[[0.41760273147636673,-2.140119084027324],[0.4250092541346445,-2.1327150474098886]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[-0.42556524459011863,0.8496675035894818,0.71338606911949],"aabb_xy":[[-0.4755652432360399,0.7997479599300195],[-0.3755652459441975,0.8995870472489442]]},{"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_22","position":[-0.13850460741028847,-2.1776268165040737,0.71338606911949],"aabb_xy":[[-0.15637371516474396,-2.191459724481285],[-0.12063549965583298,-2.1637939085268627]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.5156118089686346,-1.4782532134131456,0.71338606911949],"aabb_xy":[[0.48932298464819385,-1.5045246470677969],[0.5419006332890751,-1.4519817797584944]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[0.3598292419140219,1.0528450091807229,0.71338606911949],"aabb_xy":[[0.26982924541315007,1.0069333667622642],[0.4498292384148936,1.0987566515991807]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[0.40009335243327926,-1.118562879842701,0.71338606911949],"aabb_xy":[[0.3876259943235436,-1.1310282044760245],[0.4125607105430149,-1.1060975552093775]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[0.29303619573849027,-2.217035688754148,0.71338606911949],"aabb_xy":[[0.2866223820953052,-2.2234455090018157],[0.2994500093816751,-2.2106258685064786]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_27","position":[0.15230272084241414,0.555321903309046,0.71338606911949],"aabb_xy":[[0.13480272156432727,0.5379838032427],[0.16980272012050102,0.5726600033753919]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_28","position":[0.10782922363218883,-1.2528717826716582,0.71338606911949],"aabb_xy":[[0.05285550159585596,-1.3078717822358914],[0.16280294566852171,-1.197871783107425]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_29","position":[-0.2018627349216151,1.0473095873035172,0.71338606911949],"aabb_xy":[[-0.25167951438644987,0.9973095888192138],[-0.15204595545678032,1.0973095857878206]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_30","position":[0.3456702588366196,1.5154830681111506,0.71338606911949],"aabb_xy":[[0.3348297806101047,1.498296786820502],[0.3565107370631345,1.5326693494017993]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_31","position":[0.1455685075964518,-2.0414198611744947,0.71338606911949],"aabb_xy":[[0.1156009506866261,-2.0714198614723807],[0.17553606450627743,-2.0114198608766096]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_32","position":[0.43656480447398316,-0.3088538180047653,0.71338606911949],"aabb_xy":[[0.34656480475080886,-0.33192717053994514],[0.5265648041971571,-0.28578046546958547]]}],"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":0.6500478724067431,"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/2817.png","name":"2817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2817.png","name":"2817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3599.png","name":"3599"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4583.png","name":"4583"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9937.png","name":"9937"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3448.png","name":"3448"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":597.1008534137626,"rotation_z_degrees":199.16262582646306,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0025959925658053246,-0.011769175478371948,0.011317710810305404]},{"name":"camera_2","offset_m":[-0.006919694737926885,0.01834108234680133,0.011247821188831292]},{"name":"camera_3","offset_m":[-0.0008324967672532629,-0.001610705997460521,-0.005140987257103583]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005361136471831447,0.0011931597019502597,-0.00024708831217510187],"end_effector_yaw_offset_degrees":-0.4887499496641574},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009262455663354224,-0.0004806997172908255,-0.0017389739375840594],"end_effector_yaw_offset_degrees":-0.6948011878275517},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012299789850821834,-0.0009252708533713486,-0.001177584643010853],"end_effector_yaw_offset_degrees":0.4210333371813222}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001932527074484912,-0.00028494171940581913],"position_m":[0.2163674729255151,0.2669150582805942,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014321743920235452,-0.002574202809004739],"position_m":[0.21953217439202352,-0.3579742028090047,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016498340459741787,0.001541432676214172],"position_m":[0.31834983404597417,-0.05765856732378583,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009096381567238673,-0.00032330839691738656],"position_m":[0.35559036184327614,0.1655766916030826,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5375364f5ba7b61f8beefdef1b87ac48715c4013ab2b734909099b4631ceaa46","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2817/tex_ceiling_textures_3448/tex_floor_textures_9937/tex_table_textures_3599/tex_wall_textures_4583","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3494091919535166150,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3494091919535166150,"visual_seed":3494091919535166150,"scene_id":"lab_003","finished_at":"2026-09-04T20:23:52"} +{"episode_id":"ep_000094","started_at":"2026-09-04T20:23:55","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.5949416865856674,-1.3801896376185459,0.71338606911949],"aabb_xy":[[0.5824743284759317,-1.3926549622518696],[0.607409044695403,-1.3677243129852226]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[0.13748206699454357,-0.95238845850214,0.71338606911949],"aabb_xy":[[0.10699781686751342,-1.0023884582836362],[0.16796631712157373,-0.9023884587206442]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[-0.31154474696973733,-1.8275230314393744,0.71338606911949],"aabb_xy":[[-0.34654474694623316,-1.8369876474869913],[-0.2765447469932415,-1.818058415391758]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[0.6222642319484497,0.8572706612431102,0.71338606911949],"aabb_xy":[[0.6047642985144663,0.8397706613228757],[0.6397641653824331,0.8747706611633448]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[0.5168256726758766,-0.6355586189955043,0.71338606911949],"aabb_xy":[[0.5059198965883139,-0.7155586153943333],[0.5277314487634394,-0.555558622596675]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.20034380665015628,0.4682395301350293,0.71338606911949],"aabb_xy":[[-0.24642889790488776,0.40423953288247416],[-0.1542587153954248,0.5322395273875844]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.11689923241189693,-2.43443919026652,0.71338606911949],"aabb_xy":[[-0.20658630872001238,-2.52443919052097],[-0.02721215610378147,-2.344439190012069]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.011832279822666658,-2.095888571467691,0.71338606911949],"aabb_xy":[[-0.07582797721776324,-2.159888569768399],[0.052163417572429926,-2.031888573166982]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[0.6164489878347639,-2.0632894915815316,0.71338606911949],"aabb_xy":[[0.5982431641735163,-2.0743148921635233],[0.6346548114960117,-2.05226409099954]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[-0.38002805465893325,1.360333629505762,0.71338606911949],"aabb_xy":[[-0.41752805515629143,1.3563649459576437],[-0.34252805416157495,1.3643023130538807]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.5624337143577093,-1.183058232914872,0.71338606911949],"aabb_xy":[[-0.6095630933595448,-1.2470582339592737],[-0.5153043353558735,-1.1190582318704698]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[0.4704672029353687,1.5561312308919075,0.71338606911949],"aabb_xy":[[0.38046720060134964,1.4786488763067949],[0.5604672052693878,1.6336135854770202]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.33975299434255934,-0.32618559586663176,0.71338606911949],"aabb_xy":[[-0.4297529910781695,-0.3793690591839262],[-0.24975299760694908,-0.2730021325493372]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[0.49505881391302786,-0.8255485746551787,0.71338606911949],"aabb_xy":[[0.43105881474325797,-0.8723152617741412],[0.5590588130827978,-0.7787818875362162]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.6267473775589685,-0.4609999545028507,0.71338606911949],"aabb_xy":[[-0.633249014066973,-0.4707677765291606],[-0.6202457410509638,-0.45123213247654104]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.4684661508349304,0.8867381501771359,0.71338606911949],"aabb_xy":[[-0.5384661526436758,0.8653843814129485],[-0.3984661490261849,0.9080919189413232]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[0.42878788705671744,0.3155433446795213,0.71338606911949],"aabb_xy":[[0.34878788489395496,0.23558816105337765],[0.5087878892194799,0.3954985283056649]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.03269499292120315,-0.6567202352456007,0.71338606911949],"aabb_xy":[[-0.045846238892492515,-0.6817202350022872],[-0.01954374694991379,-0.6317202354889141]]},{"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_18","position":[-0.17364151600090882,-0.15996551669890513,0.71338606911949],"aabb_xy":[[-0.20955502042589852,-0.19587902491565976],[-0.13772801157591913,-0.1240520084821505]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.33528057994931104,-2.2463752719245,0.71338606911949],"aabb_xy":[[0.25528058278973575,-2.257922872882317],[0.41528057710888633,-2.2348276709666828]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[-0.29416942917902233,-1.1118346506895986,0.71338606911949],"aabb_xy":[[-0.35916943017952285,-1.1626210158442736],[-0.22916942817852182,-1.0610482855349237]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[0.26123934785589076,-1.6323524867698396,0.71338606911949],"aabb_xy":[[0.22438879991890315,-1.6698524875928733],[0.29808989579287837,-1.5948524859468058]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[-0.1784313328745758,1.3883177216970837,0.71338606911949],"aabb_xy":[[-0.22843133415841574,1.3383388673064611],[-0.1284313315907358,1.4382965760877053]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[0.11671680753612601,1.1239770439606995,0.71338606911949],"aabb_xy":[[0.05671680667531321,1.0725506139542127],[0.17671680839693882,1.1754034739671855]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_24","position":[-0.42524533196564074,0.39308976342877466,0.71338606911949],"aabb_xy":[[-0.43327160259626674,0.3843382684514221],[-0.41721906133501474,0.40184125840612733]]},{"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_25","position":[-0.49005520586390905,-0.5172419262202985,0.71338606911949],"aabb_xy":[[-0.49934882410105963,-0.5547419247084324],[-0.48076158762675847,-0.4797419277321646]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_26","position":[-0.5039245972278409,1.6697869339059257,0.71338606911949],"aabb_xy":[[-0.5130844761717175,1.6632557158623886],[-0.4947647182839643,1.6763181519494628]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.1524073715806179,-1.2815228183408647,0.71338606911949],"aabb_xy":[[0.08840737130663967,-1.3315889185381526],[0.21640737185459613,-1.2314567181435767]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[0.32280783793049106,-1.5152462775907347,0.71338606911949],"aabb_xy":[[0.30369553057251214,-1.5343810564679767],[0.34192014528846987,-1.4961114987134927]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_29","position":[-0.43602217697340967,-2.2006199824107266,0.71338606911949],"aabb_xy":[[-0.5000221742590583,-2.2421267013635706],[-0.372022179687761,-2.1591132634578827]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_30","position":[0.5264599818702906,0.799040599308499,0.71338606911949],"aabb_xy":[[0.4921630708525499,0.7647437130985575],[0.5607568928880311,0.8333374855184401]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_31","position":[0.7036943923266139,-2.2264942634257707,0.71338606911949],"aabb_xy":[[0.6902478656925705,-2.239964115078862],[0.7171409189606571,-2.2130244117726794]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_32","position":[-0.3087028692038046,0.8613686260661391,0.71338606911949],"aabb_xy":[[-0.33228799266769943,0.7963686238207073],[-0.2851177457399097,0.9263686283115709]]}],"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":0.6462472757201857,"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/7810.png","name":"7810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7810.png","name":"7810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9042.png","name":"9042"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/95.png","name":"95"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3180.png","name":"3180"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1768.png","name":"1768"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":524.4819136328695,"rotation_z_degrees":289.5837101428703,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0034515582587581854,-0.0036786109300224606,0.007586757321213288]},{"name":"camera_2","offset_m":[0.014157658745768142,0.017630766874470006,0.012467592815528675]},{"name":"camera_3","offset_m":[0.0012304420336071674,-0.01676154661342816,-0.017692625677471797]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012019386901910832,0.0012857076512100708,0.0012841841558994742],"end_effector_yaw_offset_degrees":-0.4692266240176426},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011831621523468922,0.0003251166747167836,0.0008644887352472564],"end_effector_yaw_offset_degrees":0.04968072380459643},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00045147597348611746,-0.0007122905532681285,0.0016469968147004256],"end_effector_yaw_offset_degrees":-0.3718533818297791}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00021746823463095893,-0.0006392791435230905],"position_m":[0.21851746823463095,0.2665607208564769,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035067767869454303,-0.0031444871878421854],"position_m":[0.21459322321305455,-0.35854448718784215,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003984825979623987,-0.003830509934030177],"position_m":[0.31709848259796236,-0.06303050993403018,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030722073570773976,-0.0046536749451470604],"position_m":[0.35342779264292257,0.16124632505485292,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c4cf77db0d3429594d943f0c5b680cc08244f9ef17127a790254467eb58b5d49","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7810/tex_ceiling_textures_1768/tex_floor_textures_3180/tex_table_textures_9042/tex_wall_textures_95","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2603344382111954914,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2603344382111954914,"visual_seed":2603344382111954914,"scene_id":"lab_003","finished_at":"2026-09-04T20:26:47"} +{"episode_id":"ep_000095","started_at":"2026-09-04T20:26:51","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[0.451646253972386,0.7239417837841398,0.71338606911949],"aabb_xy":[[0.42914983253852196,0.7014417839773924],[0.47414267540625016,0.7464417835908873]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[-0.5737919775914208,-2.23318489942548,0.71338606911949],"aabb_xy":[[-0.6634790538995362,-2.3231848996799305],[-0.4841049012833053,-2.1431848991710294]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[0.20864785439111233,-0.6436329982579023,0.71338606911949],"aabb_xy":[[0.18953554703313347,-0.6627677771351445],[0.2277601617490912,-0.6244982193806604]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.5246914110565999,-2.1451972964626194,0.71338606911949],"aabb_xy":[[0.48969141116058096,-2.153571531974559],[0.5596914109526187,-2.136823060950679]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.07885658904879578,0.555707724508069,0.71338606911949],"aabb_xy":[[-0.10074633663773658,0.46570772721882],[-0.056966841459854985,0.6457077217973182]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.5996619723309595,0.9954982051019834,0.71338606911949],"aabb_xy":[[0.5825598943725913,0.9783913995707136],[0.6167640502893276,1.0126050106332531]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.4595627149084034,0.5565848966969646,0.71338606911949],"aabb_xy":[[-0.49706271642403504,0.5453581236808196],[-0.4220627133927716,0.5678116697131097]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.5705734055940976,0.5942639499729414,0.71338606911949],"aabb_xy":[[0.5340775849668188,0.5577800075461838],[0.6070692262213763,0.630747892399699]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.2766843973130789,1.2537002215645718,0.71338606911949],"aabb_xy":[[0.1866843975899047,1.2306268690293918],[0.36668439703625305,1.2767735740997515]]},{"name":"st_hose_barb_y_connector_g02_m02","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_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[-0.3477732219135435,1.124241522442739,0.71338606911949],"aabb_xy":[[-0.3845678550384497,1.0873356473461566],[-0.31097858878863716,1.1611473975393212]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[0.058501658686936686,-1.3853480551288966,0.71338606911949],"aabb_xy":[[0.019955965861735654,-1.4238938261850855],[0.09704735151213773,-1.346802284072708]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[0.5266880300298455,-0.05761541930195202,0.71338606911949],"aabb_xy":[[0.4626880297693747,-0.10262421865488001],[0.5906880302903162,-0.01260661994902401]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.21317992666290136,-1.0403260232600968,0.71338606911949],"aabb_xy":[[-0.22117341645818345,-1.0483241552005726],[-0.2051864368676194,-1.0323278913196214]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.015186630337489349,1.692709559628867,0.71338606911949],"aabb_xy":[[-0.056435441367404075,1.6377095601166496],[0.026062180692425385,1.7477095591410845]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.01134108276724366,-1.037073438229134,0.71338606911949],"aabb_xy":[[-0.006334547821354672,-1.0547536545085365],[0.029016713355841994,-1.019393221949731]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.1618915742887147,-2.391295298983022,0.71338606911949],"aabb_xy":[[-0.24189157125175384,-2.4683709406267953],[-0.08189157732567551,-2.3142196573392484]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[0.3712564553145594,0.8989101496776928,0.71338606911949],"aabb_xy":[[0.3062564526767659,0.8474305509782458],[0.43625645795235285,0.9503897483771397]]},{"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_17","position":[0.3273379810637629,-2.184279342723724,0.71338606911949],"aabb_xy":[[0.2914244766387732,-2.220192850940479],[0.3632514854887526,-2.1483658345069694]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.2679023832474259,-1.7232673489785317,0.71338606911949],"aabb_xy":[[0.22181729199269437,-1.7872673462310869],[0.3139874745021573,-1.6592673517259766]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.07119271350931955,1.4400276057529493,0.71338606911949],"aabb_xy":[[-0.12119271487020676,1.3900497011775335],[-0.02119271214843232,1.4900055103283647]]}],"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":0.6453030554018052,"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/8838.png","name":"8838"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8838.png","name":"8838"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8395.png","name":"8395"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5313.png","name":"5313"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9686.png","name":"9686"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":575.8274195732931,"rotation_z_degrees":331.4182863608864,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00918903134873951,0.0018799838555675248,0.0068887403240064544]},{"name":"camera_2","offset_m":[0.017072066733917358,0.014070381911819637,0.0012203581694626951]},{"name":"camera_3","offset_m":[-0.019331013606794487,-0.010009431372598035,0.010015698315729144]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007304058669731451,0.001532468744701683,-0.0007737518679399203],"end_effector_yaw_offset_degrees":-0.5462772918034224},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009668283789565596,0.0012127576148166564,-0.0005661557322754569],"end_effector_yaw_offset_degrees":0.6861472694568482},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00048301633932925584,0.0008225686247493669,-0.0009559702322670996],"end_effector_yaw_offset_degrees":-0.8846105380796063}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00015635954222538266,-0.0013620061667241148],"position_m":[0.21814364045777462,0.2658379938332759,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022473108270445376,0.00046509290243860503],"position_m":[0.21585268917295544,-0.35493490709756137,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006351998947729609,-0.004047523509602245],"position_m":[0.31606480010522703,-0.06324752350960225,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004153226265239483,-0.0010526270209314506],"position_m":[0.3523467737347605,0.16484737297906854,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0c8bd62778fb439fa603c7e7ce61997b509b9b10128044993bbb923f2bcbb6e","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8838/tex_ceiling_textures_9686/tex_floor_textures_5313/tex_table_textures_9944/tex_wall_textures_8395","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":4978436669356520118,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":4978436669356520118,"visual_seed":4978436669356520118,"scene_id":"lab_003","finished_at":"2026-09-04T20:29:54"} +{"episode_id":"ep_000096","started_at":"2026-09-04T20:29:57","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.42050912703079946,-0.5814252012192345,0.71338606911949],"aabb_xy":[[0.3704116630497259,-0.6454252017290463],[0.47060659101187313,-0.5174252007094227]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.36908880068569966,1.1292502544964194,0.71338606911949],"aabb_xy":[[-0.4103933437494356,1.0652502549283023],[-0.3277842576219636,1.1932502540645364]]},{"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_2","position":[0.6652214974107022,-0.165304728201499,0.71338606911949],"aabb_xy":[[0.6293079929857126,-0.20121823641825362],[0.7011350018356919,-0.12939121998474437]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[0.605093080271695,-1.4120884489120458,0.71338606911949],"aabb_xy":[[0.5838150721282226,-1.4770884512381186],[0.6263710884151671,-1.3470884465859725]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.5219613609503022,1.2650658429794248,0.71338606911949],"aabb_xy":[[0.513746815834618,1.2563892526817833],[0.530175906065986,1.273742433277066]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.6297202915840223,-0.7379872037617339,0.71338606911949],"aabb_xy":[[0.5681295323600295,-0.8019872018707808],[0.6913110508080151,-0.673987205652687]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.025969089441994497,1.1934203546230204,0.71338606911949],"aabb_xy":[[-0.07596410040144652,1.1434203555874287],[0.02402592151745754,1.2434203536586121]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.5878634917629332,1.706889057034306,0.71338606911949],"aabb_xy":[[-0.6778634884985434,1.6537055937170115],[-0.49786349502732297,1.7600725203516006]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.5952702529140304,1.3355072737667006,0.71338606911949],"aabb_xy":[[-0.6452490614243461,1.2855072737609818],[-0.5452914444037144,1.3855072737724194]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[-0.14221689050709274,-1.7589767159020346,0.71338606911949],"aabb_xy":[[-0.15025322520837758,-1.7670148352064514],[-0.1341805558058079,-1.7509385965976179]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[-0.5514716285843477,-0.07131415966999999,0.71338606911949],"aabb_xy":[[-0.601454578771827,-0.12131415931256037],[-0.5014886783968683,-0.02131416002743956]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[-0.27958296686744016,-0.8836807013271726,0.71338606911949],"aabb_xy":[[-0.29245487036838025,-0.9636807017410086],[-0.26671106336649997,-0.8036807009133363]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.6514758643884446,-1.7133747344004444,0.71338606911949],"aabb_xy":[[0.6064832776699942,-1.7583747336748932],[0.696468451106895,-1.6683747351259957]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.43219137673620844,-2.1585935910748475,0.71338606911949],"aabb_xy":[[0.42303149779233185,-2.1651248091183843],[0.44135125568008504,-2.1520623730313106]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[-0.6378843183935707,-1.327856096539583,0.71338606911949],"aabb_xy":[[-0.6415875797227096,-1.3315581148483007],[-0.6341810570644318,-1.3241540782308647]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[-0.4270329902801396,0.2527896354349246,0.71338606911949],"aabb_xy":[[-0.4489227378690803,0.1627896381456755],[-0.4051432426911987,0.34278963272417373]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[-0.05505228830845521,-2.400228403057608,0.71338606911949],"aabb_xy":[[-0.061466101951640144,-2.4066382233052757],[-0.048638474665270263,-2.3938185828099385]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[-0.5629526437170416,-0.6794678607186624,0.71338606911949],"aabb_xy":[[-0.6329526453193212,-0.69290065392032],[-0.4929526421147622,-0.6660350675170048]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.670099467197695,1.6304214843348235,0.71338606911949],"aabb_xy":[[0.6201220503324413,1.5804214828455747],[0.7200768840629485,1.6804214858240718]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.46302310322655527,1.4866133607413565,0.71338606911949],"aabb_xy":[[0.41774448834540606,1.4226133613931728],[0.5083017181077045,1.5506133600895402]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.35214960053778555,0.5614327584993073,0.71338606911949],"aabb_xy":[[0.2684273750377031,0.47143275496461134],[0.435871826037868,0.6514327620340032]]},{"name":"st_hose_barb_y_connector_g01_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_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[0.3217160691912271,1.794953794763098,0.71338606911949],"aabb_xy":[[0.28725359117813926,1.7882901175801749],[0.3561785472043148,1.8016174719460203]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.39264396821952086,-1.8141444537960916,0.71338606911949],"aabb_xy":[[0.37754166675850265,-1.8292459754271533],[0.40774626968053884,-1.7990429321650294]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.42458167488780785,-1.6811871074740001,0.71338606911949],"aabb_xy":[[-0.439744547864745,-1.6963525647691193],[-0.4094188019108708,-1.6660216501788818]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_24","position":[0.09063886563161616,-1.4134399813127636,0.71338606911949],"aabb_xy":[[0.0406388646124809,-1.4499061970505915],[0.14063886665075145,-1.3769737655749357]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[0.7039038785616007,-1.856414924799315,0.71338606911949],"aabb_xy":[[0.6864038794272334,-1.8662945518369023],[0.7214038776959677,-1.8465352977617266]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_26","position":[0.14881390236768677,0.9691638429099436,0.71338606911949],"aabb_xy":[[0.08881390177167059,0.91435137036472],[0.20881390296370295,1.023976315455167]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[-0.20297165512050808,-1.9576170850425463,0.71338606911949],"aabb_xy":[[-0.20893819406124384,-1.9635782297019106],[-0.19700511617977226,-1.9516559403831824]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_28","position":[0.2131776504426186,-1.151192765705477,0.71338606911949],"aabb_xy":[[0.17567764892698692,-1.162419538721622],[0.2506776519582503,-1.139965992689332]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_29","position":[-0.15131605617505317,-2.464881876587048,0.71338606911949],"aabb_xy":[[-0.1738160564185686,-2.47708651124682],[-0.1288160559315378,-2.452677241927276]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_30","position":[-0.5166268257432669,-1.9424143765669168,0.71338606911949],"aabb_xy":[[-0.606626829420185,-2.0038467831440205],[-0.4266268220663486,-1.880981969989812]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_31","position":[0.07464612440784357,-1.1787690241258404,0.71338606911949],"aabb_xy":[[0.02063052812594357,-1.2427690270180975],[0.12866172068974358,-1.1147690212335832]]}],"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":0.6494675059585021,"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/4542.png","name":"4542"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4542.png","name":"4542"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7754.png","name":"7754"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4313.png","name":"4313"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2963.png","name":"2963"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3519.png","name":"3519"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":527.2152546294534,"rotation_z_degrees":350.25631604073664,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001835986865633351,-0.0016894571404356545,-0.00658357850234197]},{"name":"camera_2","offset_m":[-0.0027098210769302307,-0.006916350087203189,-0.008629734617817362]},{"name":"camera_3","offset_m":[-0.015895546984299652,-0.0031801342087191264,-0.011709162170787058]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018336148449686193,-0.0003079222682107949,-6.248568093283327e-05],"end_effector_yaw_offset_degrees":0.9456316843734256},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007849124325084223,0.001970716657222404,0.0008615444724017914],"end_effector_yaw_offset_degrees":0.7789797573640715},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001941040094055408,0.00011636824869677665,0.001969761019707394],"end_effector_yaw_offset_degrees":-0.7340263629173898}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004381637110662818,0.00352461996192793],"position_m":[0.2139183628893372,0.2707246199619279,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027702152264112564,0.004679384808795401],"position_m":[0.22087021522641123,-0.35072061519120457,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00021408408935808323,0.0039655634955221815],"position_m":[0.3164859159106419,-0.05523443650447782,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001229502947576169,0.004838706841714336],"position_m":[0.3566229502947576,0.17073870684171433,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3a21b17757853b7add17c110e64e11011df9441f6576cb06ba592b9243fefc1a","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4542/tex_ceiling_textures_3519/tex_floor_textures_2963/tex_table_textures_7754/tex_wall_textures_4313","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5492344506944072269,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5492344506944072269,"visual_seed":5492344506944072269,"scene_id":"lab_003","finished_at":"2026-09-04T20:32:53"} +{"episode_id":"ep_000097","started_at":"2026-09-04T20:32:56","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[0.573588566457018,-1.9403565418432636,0.71338606911949],"aabb_xy":[[0.5560885661976813,-1.9544480840320366],[0.5910885667163546,-1.9262649996544914]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.6511170620027324,-0.8858646119197311,0.71338606911949],"aabb_xy":[[0.6186553611208049,-0.9159974440346337],[0.6835787628846598,-0.8557317798048285]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[-0.14988376545439108,-0.9170055728962507,0.71338606911949],"aabb_xy":[[-0.18434611285253286,-0.9514994552940733],[-0.11542141805624927,-0.8825116904984279]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.10436218552247212,0.547709737969508,0.71338606911949],"aabb_xy":[[0.09878051388834336,0.5352097381517323],[0.10994385715660088,0.5602097377872833]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.17562684688661268,-2.2016911806821353,0.71338606911949],"aabb_xy":[[-0.19325968248014025,-2.219314126697758],[-0.1579940112930851,-2.184068234666512]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.3974871916971457,0.44853693375640313,0.71338606911949],"aabb_xy":[[-0.4093592747086468,0.3635369340627527],[-0.3856151086856446,0.5335369334500535]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.0897630396009721,-0.13998087339558074,0.71338606911949],"aabb_xy":[[-0.13976303996153816,-0.18996086060518366],[-0.039763039240406035,-0.09000088618597778]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[-0.6035378818023339,-0.2605185572981972,0.71338606911949],"aabb_xy":[[-0.668537882759461,-0.31246676923190275],[-0.5385378808452066,-0.20857034536449162]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.5094210561695365,-2.4380536355623765,0.71338606911949],"aabb_xy":[[0.46333596491480505,-2.502053632814931],[0.555506147424268,-2.374053638309821]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.5466498182872174,-0.14089966956397681,0.71338606911949],"aabb_xy":[[-0.5546438068649207,-0.14889974965906713],[-0.5386558297095139,-0.13289958946888644]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[-0.5973983231675157,-0.4975433074677671,0.71338606911949],"aabb_xy":[[-0.647381273354995,-0.5475433071103273],[-0.5474153729800363,-0.44754330782520657]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[0.2846055832408899,-0.7757770735367742,0.71338606911949],"aabb_xy":[[0.20460558296728296,-0.8487266213624908],[0.3646055835144969,-0.7028275257110573]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.0999728305689982,-1.3527848905359878,0.71338606911949],"aabb_xy":[[-0.1224692520028623,-1.3752848903427353],[-0.0774764091351341,-1.3302848907292404]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.3277277393334841,0.41288673165324763,0.71338606911949],"aabb_xy":[[0.2942875641374644,0.37944310582231744],[0.3611679145295036,0.4463303574841776]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.6341666537307034,-0.7492349194235166,0.71338606911949],"aabb_xy":[[0.6269054061602959,-0.7620219296870262],[0.6414279013011108,-0.7364479091600072]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.42486635619734114,-1.819225881117886,0.71338606911949],"aabb_xy":[[0.3873663562535748,-1.8275189711527224],[0.4623663561411076,-1.8109327910830493]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.37720711069810275,0.29967536873179634,0.71338606911949],"aabb_xy":[[0.340173001270043,0.2652981613980869],[0.4142412201261625,0.3340525760655058]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.36092787036506024,-2.1559046240120763,0.71338606911949],"aabb_xy":[[0.33842786985301965,-2.1783964823774746],[0.38342787087710084,-2.133412765646678]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[0.4090204752560993,1.489478082037595,0.71338606911949],"aabb_xy":[[0.3865204750125839,1.477273447377823],[0.4315204754996147,1.501682716697367]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.0836400444277009,-2.0651005465762147,0.71338606911949],"aabb_xy":[[-0.1336400430736221,-2.1150200902356775],[-0.033640045781779704,-2.0151810029167527]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[0.11918016680721566,-1.626335348163571,0.71338606911949],"aabb_xy":[[0.02918017030634391,-1.6722469905820292],[0.20918016330808742,-1.5804237057451127]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[0.02443724154342397,1.1390483400296634,0.71338606911949],"aabb_xy":[[-0.01205857908385477,1.1025643976029058],[0.06093306217070271,1.175532282456421]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[0.33813192131114045,-1.6371278411600567,0.71338606911949],"aabb_xy":[[0.29313933459269,-1.6821278404345053],[0.3831245080295908,-1.5921278418856077]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[-0.4276163744913123,-1.3069775159726156,0.71338606911949],"aabb_xy":[[-0.43633034354124667,-1.3294775166318034],[-0.4189024054413777,-1.284477515313427]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[0.37801134950590387,-0.5775715225352052,0.71338606911949],"aabb_xy":[[0.3619494220473862,-0.662571524347797],[0.3940732769644215,-0.4925715207226134]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_25","position":[-0.45365114756367153,-1.8164991234889016,0.71338606911949],"aabb_xy":[[-0.49865114902990043,-1.8614989803503823],[-0.40865114609744274,-1.771499266627421]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[0.45223630265926906,-1.7039123582213782,0.71338606911949],"aabb_xy":[[0.4272363031075306,-1.7140548420865127],[0.47723630221100755,-1.6937698743562433]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[-0.28260568042020523,1.076975799844369,0.71338606911949],"aabb_xy":[[-0.29777784970183857,1.0618069429161656],[-0.2674335111385719,1.0921446567725723]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_28","position":[0.40514650196246116,-1.4725861117026424,0.71338606911949],"aabb_xy":[[0.3599751841142922,-1.536586108847181],[0.4503178198106302,-1.408586114558104]]}],"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":0.6471103572570664,"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/4486.png","name":"4486"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4486.png","name":"4486"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6282.png","name":"6282"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7892.png","name":"7892"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5808.png","name":"5808"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2400.png","name":"2400"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":783.7663754725288,"rotation_z_degrees":4.664778718309415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002444065739626463,0.015585557863426778,0.008239319454324247]},{"name":"camera_2","offset_m":[0.017607958305240524,-0.005028153482650214,-0.009473635126960724]},{"name":"camera_3","offset_m":[0.009315677490931908,0.01808474974370881,-0.006545458071890558]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019374155943499187,0.0008687328408397473,-0.001005318233750348],"end_effector_yaw_offset_degrees":0.9593515699162023},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.2651640070191102e-05,0.0002729911813095158,0.0005825158376915945],"end_effector_yaw_offset_degrees":-0.2658587366590881},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008414779666412213,0.0003323292573940901,-0.00024266634959173414],"end_effector_yaw_offset_degrees":-0.9058606269961975}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003963001263043495,0.0005804536982690397],"position_m":[0.2222630012630435,0.267780453698269,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006219851245501482,0.000992668242931317],"position_m":[0.21747801487544985,-0.3544073317570687,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002715531073406524,-0.0012608974878353775],"position_m":[0.3194155310734065,-0.06046089748783538,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018999953685184699,0.0032940757865335133],"position_m":[0.3546000046314815,0.1691940757865335,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"54a27ad948d13cefee3ffbb8d50cd5d3a4af38d018b467f8e207e767573c6e30","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0097.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4486/tex_ceiling_textures_2400/tex_floor_textures_5808/tex_table_textures_6282/tex_wall_textures_7892","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2931075045163246744,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2931075045163246744,"visual_seed":2931075045163246744,"scene_id":"lab_003","finished_at":"2026-09-04T20:35:51"} +{"episode_id":"ep_000098","started_at":"2026-09-04T20:35:55","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[0.5973852748866519,-1.4791817826944318,0.71338606911949],"aabb_xy":[[0.5173852762993324,-1.5584973846325927],[0.6773852734739713,-1.399866180756271]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.15881903710807355,0.2544836112359512,0.71338606911949],"aabb_xy":[[-0.2388190375782895,0.24617290362160288],[-0.0788190366378576,0.26279431885029964]]},{"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_2","position":[0.4242305832959332,-2.162852092003634,0.71338606911949],"aabb_xy":[[0.3942389205620628,-2.1928520913404346],[0.45422224602980343,-2.1328520926668335]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.43147571392889317,-1.1000093487014968,0.71338606911949],"aabb_xy":[[-0.4379773504368979,-1.1097771707278066],[-0.42497407742088866,-1.090241526675187]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[-0.14812376744972466,-1.5990003544950047,0.71338606911949],"aabb_xy":[[-0.15853532613020835,-1.6043460878309028],[-0.13771220876924092,-1.593654621159106]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.2915408660416179,0.9828262889735222,0.71338606911949],"aabb_xy":[[-0.3555408683844194,0.9378854377293897],[-0.2275408636988163,1.0277671402176547]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[-0.34996670386473566,0.11090172507802887,0.71338606911949],"aabb_xy":[[-0.43996670358790985,0.08782837254284902],[-0.2599667041415615,0.13397507761320868]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.4680203143349322,0.8012805298005636,0.71338606911949],"aabb_xy":[[0.38802031107708923,0.7212840220085796],[0.5480203175927751,0.8812770375925475]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.41188474040131484,-1.6405987014040226,0.71338606911949],"aabb_xy":[[0.3906067322578426,-1.7055987037300955],[0.4331627485447871,-1.5755986990779494]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.4757058653242758,1.6027472635895106,0.71338606911949],"aabb_xy":[[-0.5100027763420163,1.5684503773795693],[-0.44140895430653504,1.637044149799452]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.25933678487435896,1.3443411792234832,0.71338606911949],"aabb_xy":[[0.23642107198930912,1.32143688208706],[0.2822524977594089,1.367245476359907]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.2374088121422927,-0.5547834170186268,0.71338606911949],"aabb_xy":[[-0.24286675777931274,-0.6347834203262859],[-0.2319508665052726,-0.47478341371096766]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.046346303822254464,-2.088230515755424,0.71338606911949],"aabb_xy":[[-0.06384630408159109,-2.102322057944197],[-0.02884630356291784,-2.074138973566652]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[-0.5580424070646334,-1.9146845090482023,0.71338606911949],"aabb_xy":[[-0.5813242492627646,-1.9996845103454304],[-0.5347605648665019,-1.8296845077509742]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.024712883908658445,-0.32454097145038174,0.71338606911949],"aabb_xy":[[-0.03175433485940604,-0.3315677231881763],[-0.01767143295791085,-0.3175142197125872]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.5967505415844332,0.44794275743652046,0.71338606911949],"aabb_xy":[[-0.6567505418358344,0.39366143240005574],[-0.536750541333032,0.5022240824729851]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[-0.3357556181818958,-0.8887566937768567,0.71338606911949],"aabb_xy":[[-0.34551160769106964,-0.8985192278360911],[-0.32599962867272186,-0.8789941597176222]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.1040669207809849,0.8021122164311225,0.71338606911949],"aabb_xy":[[-0.11284814792822113,0.7933324691425926],[-0.09528569363374868,0.8108919637196529]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[-0.5281760365676555,-1.4659082102710528,0.71338606911949],"aabb_xy":[[-0.5593229554112386,-1.53590820895786],[-0.4970291177240723,-1.3959082115842456]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.5496150387984908,-1.7080378124001987,0.71338606911949],"aabb_xy":[[0.5394620232443413,-1.7441073539729384],[0.5597680543526401,-1.6719682708274577]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.1161191593031039,-2.464348477631555,0.71338606911949],"aabb_xy":[[-0.12689213322447168,-2.499348475850594],[-0.10534618538173612,-2.429348479412516]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[-0.3889475038258972,0.6192597196762288,0.71338606911949],"aabb_xy":[[-0.4529475042034308,0.5695144528254166],[-0.32494750344836354,0.6690049865270411]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[0.32965437300946854,-2.2325466092300172,0.71338606911949],"aabb_xy":[[0.3200227367890389,-2.242183922009726],[0.33928600922989816,-2.2229092964503083]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[-0.5338008232662897,1.2661894211997922,0.71338606911949],"aabb_xy":[[-0.6138008206698831,1.1861968500016093],[-0.45380082586269627,1.346181992397975]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[-0.24517980920283822,-2.2219322604707683,0.71338606911949],"aabb_xy":[[-0.3351798059384484,-2.275115723788063],[-0.15517981246722798,-2.168748797153474]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[-0.2848897413261156,1.5397134835008663,0.71338606911949],"aabb_xy":[[-0.3087259589667207,1.4497134826923799],[-0.2610535236855106,1.629713484309353]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[0.3735457546897103,-1.0786521295636498,0.71338606911949],"aabb_xy":[[0.3627052764631954,-1.0958384108542987],[0.3843862329162252,-1.0614658482730008]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[-0.5868793150319985,-2.41923849904994,0.71338606911949],"aabb_xy":[[-0.6243793165476302,-2.430465272066085],[-0.5493793135163668,-2.408011726033795]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_28","position":[-0.4981916107313942,1.4669172307227831,0.71338606911949],"aabb_xy":[[-0.5394404217613088,1.4119172312105657],[-0.4569427997014794,1.5219172302350006]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_29","position":[0.00758817497826636,1.693342580940747,0.71338606911949],"aabb_xy":[[-0.07741182371380828,1.6613567175458681],[0.092588173670341,1.7253284443356258]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_30","position":[0.03109683966747101,-1.4859059570776554,0.71338606911949],"aabb_xy":[[-0.0033655077306707875,-1.5203998394754776],[0.0655591870656128,-1.4514120746798322]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_31","position":[0.12602863646431062,1.5754876292289892,0.71338606911949],"aabb_xy":[[0.12069612180969763,1.5701633009837537],[0.1313611511189236,1.5808119574742248]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_32","position":[0.15956656686246573,-0.993121014876966,0.71338606911949],"aabb_xy":[[0.14446426540144758,-1.0082225365080273],[0.17466886832348377,-0.978019493245904]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_33","position":[0.4958270581998323,-2.0401801587319888,0.71338606911949],"aabb_xy":[[0.4308270581655296,-2.086880835412316],[0.560827058234135,-1.9934794820516615]]}],"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":0.6471183721926645,"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/5703.png","name":"5703"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5703.png","name":"5703"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5198.png","name":"5198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1958.png","name":"1958"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8468.png","name":"8468"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1980.png","name":"1980"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":537.8947174773299,"rotation_z_degrees":17.33743260023694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015502064528705086,0.004057012980580713,-0.008182661723407003]},{"name":"camera_2","offset_m":[-0.01557600826696433,0.007531763818498818,-0.007163291982455737]},{"name":"camera_3","offset_m":[-0.00953984771027578,-0.013055164484156934,-0.0020891102574093177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00042536528196038996,0.0009089156471416763,-0.0007329131243707173],"end_effector_yaw_offset_degrees":-0.43596423120499206},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007171301919002757,-0.0011582778248905305,0.0018723925291089611],"end_effector_yaw_offset_degrees":0.17250963214717752},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00014366713015456604,-0.0018384296529181743,0.00010731671063078001],"end_effector_yaw_offset_degrees":-0.35054796935096766}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004043456853948702,-0.0027426389819290376],"position_m":[0.22234345685394868,0.26445736101807094,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[3.985150784987287e-05,0.0006401767513034562],"position_m":[0.21813985150784987,-0.35475982324869654,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015153442143787067,-9.616280972691606e-05],"position_m":[0.31518465578562127,-0.05929616280972692,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024126823700684496,-0.0032865725032231617],"position_m":[0.3540873176299315,0.16261342749677682,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"011514fbd8b74500c2faa79c69f8684652e76c3d032c9bb77f7e3af7d720498b","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0098.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5703/tex_ceiling_textures_1980/tex_floor_textures_8468/tex_table_textures_5198/tex_wall_textures_1958","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":4534083245544483367,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":4534083245544483367,"visual_seed":4534083245544483367,"scene_id":"lab_003","finished_at":"2026-09-04T20:38:54"} +{"episode_id":"ep_000099","started_at":"2026-09-04T20:38:57","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[0.3626333113148301,1.7584330541017805,0.71338606911949],"aabb_xy":[[0.35867282754509583,1.7507651895162601],[0.3665937950845645,1.7661009186873013]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[0.19243103828547303,-2.1213205051501154,0.71338606911949],"aabb_xy":[[0.18516979071506565,-2.1341075154136253],[0.19969228585588047,-2.1085334948866064]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[-0.06987235507563172,-1.9494992980149435,0.71338606911949],"aabb_xy":[[-0.09315419727376306,-2.0344992993121718],[-0.046590512877500385,-1.8644992967177154]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.4953582033889459,0.2744361597261076,0.71338606911949],"aabb_xy":[[0.4703582041169836,0.25809079612994523],[0.5203582026609082,0.2907815233222699]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[-0.4581699462358212,1.5196952418745178,0.71338606911949],"aabb_xy":[[-0.47104184973676133,1.4396952414606818],[-0.44529804273488105,1.5996952422883541]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[-0.6797639483799105,1.6944129464724669,0.71338606911949],"aabb_xy":[[-0.6903314280380095,1.6838679163594585],[-0.6691964687218115,1.7049579765854757]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[-0.3802697972565114,-1.2399191901463857,0.71338606911949],"aabb_xy":[[-0.44426979959931295,-1.284860041390518],[-0.3162697949137098,-1.194978338902253]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.6437824369365973,1.16661035153458,0.71338606911949],"aabb_xy":[[-0.649364108570726,1.1541103517168045],[-0.6382007653024686,1.1791103513523555]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[0.2857714846978723,-1.8815631651097835,0.71338606911949],"aabb_xy":[[0.2447535413115014,-1.9315631657407408],[0.32678942808424316,-1.8315631644788262]]},{"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_9","position":[-0.6226321146744688,-1.8975857157408202,0.71338606911949],"aabb_xy":[[-0.6526237774083391,-1.9275857150776206],[-0.5926404519405984,-1.8675857164040195]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[0.20700911002841116,-1.456069625504742,0.71338606911949],"aabb_xy":[[0.19145334061814595,-1.4716200587491493],[0.22256487943867648,-1.4405191922603349]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.5081013892241062,-0.4209057777765457,0.71338606911949],"aabb_xy":[[-0.5343902135445467,-0.44717721143119693],[-0.4818125649036655,-0.39463434412189446]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.6783520581755207,0.6522402829803164,0.71338606911949],"aabb_xy":[[-0.6855958242217661,0.5722402847767141],[-0.6711082921292755,0.7322402811839188]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.3159274332648818,-2.3700251244435,0.71338606911949],"aabb_xy":[[0.31201356006945924,-2.3787741398500564],[0.3198413064603043,-2.3612761090369427]]},{"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_14","position":[-0.5056990147664567,1.2049643632154634,0.71338606911949],"aabb_xy":[[-0.5235681225209122,1.1911314552382521],[-0.48782990701200124,1.2187972711926742]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[-0.5489828001551311,-1.5117838317605383,0.71338606911949],"aabb_xy":[[-0.6386698764632466,-1.6017838320149889],[-0.45929572384701567,-1.4217838315060878]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.2747947471792247,1.4623408317039233,0.71338606911949],"aabb_xy":[[0.2249120503015285,1.4123408324576485],[0.3246774440569209,1.5123408309501982]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.36220619606800186,-1.5328331556181916,0.71338606911949],"aabb_xy":[[0.35777556671316174,-1.5382815273528747],[0.3666368254228421,-1.5273847838835093]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[0.6960655623564087,-1.5641235730891363,0.71338606911949],"aabb_xy":[[0.677859738695161,-1.575148973671128],[0.7142713860176564,-1.5530981725071447]]},{"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_19","position":[-0.21635991319706654,0.30842736617086164,0.71338606911949],"aabb_xy":[[-0.2250578754877818,0.29630239186338697],[-0.20766195090635123,0.3205523404783364]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.3824633159697959,1.1120882360302855,0.71338606911949],"aabb_xy":[[0.3396966090903757,1.048088232608483],[0.42523002284921607,1.176088239452088]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[0.14839461399779308,-0.7377204849393177,0.71338606911949],"aabb_xy":[[0.13129253603942492,-0.7548272904705874],[0.16549669195616123,-0.7206136794080479]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[0.6359226409575489,-1.2278710886287518,0.71338606911949],"aabb_xy":[[0.580797435327958,-1.2878710900700387],[0.6910478465871396,-1.1678710871874645]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.1622281388047232,1.4365303010651256,0.71338606911949],"aabb_xy":[[0.1542341502270198,1.4285302209700352],[0.1702221273824266,1.444530381160216]]}],"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":0.6480101355057352,"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/1318.png","name":"1318"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1318.png","name":"1318"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3378.png","name":"3378"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8504.png","name":"8504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7404.png","name":"7404"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/482.png","name":"482"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":831.4240951048512,"rotation_z_degrees":97.2524865889632,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011772521300775825,-0.012197111574029194,0.0044942975178556]},{"name":"camera_2","offset_m":[-0.010786160621744294,0.003203966480512292,-0.0018129419508438847]},{"name":"camera_3","offset_m":[0.01939934051024143,0.00038581221835165547,0.007199317053828133]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013296761032392528,0.0016732232380178456,0.0013683913566923472],"end_effector_yaw_offset_degrees":-0.9563999397559646},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012122598035192724,0.0005758579310521333,-0.0015647707931618303],"end_effector_yaw_offset_degrees":0.09585240088227254},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004628631457567235,0.0005275970248079251,0.0009411111396144126],"end_effector_yaw_offset_degrees":0.44253623400429554}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027444184520037875,0.004161834381066514],"position_m":[0.2155555815479962,0.2713618343810665,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018508597366824302,0.0017816076173015295],"position_m":[0.2199508597366824,-0.3536183923826985,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003533471922667733,0.0012228073937027165],"position_m":[0.3202334719226677,-0.05797719260629729,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010865600550105745,-0.003910455484156198],"position_m":[0.3554134399449894,0.1619895445158438,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8a246b26639b0345ec6f201a5af1f9ece9107d597d1eadca1c62e29d4fde0c1c","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1318/tex_ceiling_textures_482/tex_floor_textures_7404/tex_table_textures_3378/tex_wall_textures_8504","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":6254829887398012889,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":6254829887398012889,"visual_seed":6254829887398012889,"scene_id":"lab_003","finished_at":"2026-09-04T20:42:19"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d92c41b957a2ced0b06930ae4160eb25b2519126 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_htd_00054 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Press the heater button to start heating. + layout_id: layout_00054 + reproducibility: + enabled: true + layout_id: layout_00054 + action_seed: 8865105015247510022 + step_seeds: + - 9092373221738194413 + - 5718852617331806488 + - 5334696411964519894 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3167 + - 0.3167 + 'y': + - -0.0592 + - -0.0592 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2183 + - 0.2183 + 'y': + - 0.2672 + - 0.2672 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3565 + - 0.3565 + 'y': + - 0.1659 + - 0.1659 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2181 + - 0.2181 + 'y': + - -0.3554 + - -0.3554 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_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_00054 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..932e61db43e0ad62d15698e112013a8453339351 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/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": [ + 0.25035872850440655, + 0.2686632281960669, + 1.155959282948088 + ], + "current_z": 1.155959282948088, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.2993727159348779, + "gripper_z": 1.1490665814680856, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24581677812546787, + 0.2639059158008913, + 1.1490665814680856 + ], + "object_minus_gripper": [ + 0.004541950378938675, + 0.004757312395175628, + 0.006892701480002428 + ], + "object_to_gripper_xy": 0.006577334906330439, + "object_to_gripper_z": 0.006892701480002428, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25035872850440655, + 0.24498329044330774, + 1.155959282948088 + ], + "finger_b": [ + 0.23944883703885528, + 0.2686632281960669, + 1.155959282948088 + ], + "finger_midpoint": [ + 0.2449037827716309, + 0.2568232593196873, + 1.155959282948088 + ], + "object_minus_finger_midpoint": [ + 0.0054549457327756345, + 0.011839968876379614, + 0.0 + ], + "finger_gap": 0.026072306836270886, + "fingertip_max_gap": 0.090660048750165, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013036153418135469, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.155959282948088, + "object_top_z": 1.2014651320294891, + "finger_top_clearance": 0.045505849081401095, + "fingertip_min_top_clearance": 0.013651754724420328, + "object_projection_between_fingers": 0.8249016945367469, + "object_to_finger_line_xy": 0.009908810617179872, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047830024375082505, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5425455135776622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27795091927768645, + -0.3562618630717789, + 0.8470195557517683 + ], + "target_position": [ + 0.27097590121466264, + -0.356647449397886, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006985667741482499, + "xy_threshold": 0.08, + "gripper_dist": 0.18652115093609692, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195557517683, + "min_z": 0.5730800627579278, + "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": 0.07550800893145941, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544442756481073, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15441270895757822, + "release_required_pad_clearance": 0.05272221378240537, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.49732072831782703, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007812559604644775, + "max_z_decrease": 0.007812559604644775, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035109578898355906, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007812559604644775, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021079229740966297, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007812559604644775, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00781257078508353, + "max_button_displacement": 0.12, + "button_start": [ + 0.12667582929134366, + -0.4129089117050171, + 0.7768088579177856 + ], + "button_final": [ + 0.12667582929134366, + -0.4129089117050171, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1264808904314438, + -0.4120569165301976, + 0.8078545840728967 + ], + "closest_button": [ + 0.1266741007566452, + -0.4129058420658112, + 0.7727558016777039 + ], + "closest_ee_minus_button": [ + -0.0001932103252013928, + 0.0008489255356136094, + 0.03509878239519282 + ], + "button_min_z_position": [ + 0.1266627460718155, + -0.41290703415870667, + 0.7689962983131409 + ], + "min_active_finger_to_button": 0.14601131955212845, + "closest_active_finger": [ + -0.0006930306553840637, + -0.4754868447780609, + 0.8109099864959717 + ], + "closest_active_finger_button": [ + 0.1266769170761108, + -0.4129079580307007, + 0.7765576243400574 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12736994773149488, + -0.06257888674736023, + 0.03435236215591431 + ], + "min_contact_pad_to_button": 0.021079229740966297, + "closest_contact_pad": [ + 0.1266627460718155, + -0.4130116114920333, + 0.7900752686403127 + ], + "closest_contact_pad_button": [ + 0.1266627460718155, + -0.41290703415870667, + 0.7689962983131409 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00010457733332663866, + 0.021078970327171875 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ac814b904cb9921e08c3019bb4f6f2ba75ccf9a7cb3db2500ec5f27ee338a2e4", + "visual_seed": 418197307218892853, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..65b14504c9eb6106f54495c3ef5eb0601e267920 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "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": [ + 0.24509597579901177, + 0.26608763115051215, + 1.1568019428069636 + ], + "current_z": 1.1568019428069636, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.30021537579375346, + "gripper_z": 1.1499394639757645, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.240452410227944, + 0.2613583870795976, + 1.1499394639757645 + ], + "object_minus_gripper": [ + 0.004643565571067765, + 0.004729244070914573, + 0.006862478831199059 + ], + "object_to_gripper_xy": 0.006627854154633047, + "object_to_gripper_z": 0.006862478831199059, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24509597579901177, + 0.242150132910335, + 1.1568019428069636 + ], + "finger_b": [ + 0.23446567534599602, + 0.26608763115051215, + 1.1568019428069636 + ], + "finger_midpoint": [ + 0.2397808255725039, + 0.25411888203042354, + 1.1568019428069636 + ], + "object_minus_finger_midpoint": [ + 0.005315150226507859, + 0.011968749120088606, + 0.0 + ], + "finger_gap": 0.02619173743224896, + "fingertip_max_gap": 0.09045343614802598, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0130958687161245, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1568019428069636, + "object_top_z": 1.2022723803189894, + "finger_top_clearance": 0.04547043751202584, + "fingertip_min_top_clearance": 0.013641131253607785, + "object_projection_between_fingers": 0.8352738825585476, + "object_to_finger_line_xy": 0.009715384443084245, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772671807401299, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7054663305554608, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27857744677721036, + -0.35540408064272144, + 0.8470181225793132 + ], + "target_position": [ + 0.2721744685556956, + -0.35535184948539844, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00640319125116434, + "xy_threshold": 0.08, + "gripper_dist": 0.1869131978352151, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470181225793132, + "min_z": 0.5730800627579278, + "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": 0.07550746040578384, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08497171769919858, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15474887172419738, + "release_required_pad_clearance": 0.05248585884959929, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03930336266467047, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007893025875091553, + "max_z_decrease": 0.007893025875091553, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514323330005847, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007893025875091553, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021240537580137237, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007893025875091553, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007893049290867865, + "max_button_displacement": 0.12, + "button_start": [ + 0.12787438929080963, + -0.41161331534385676, + 0.7768088579177856 + ], + "button_final": [ + 0.12787438929080963, + -0.41161331534385676, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12857753952466813, + -0.413195547917139, + 0.8074593123735215 + ], + "closest_button": [ + 0.12786345183849335, + -0.41160988807678217, + 0.7723591327667236 + ], + "closest_ee_minus_button": [ + 0.0007140876861747858, + -0.0015856598403568567, + 0.0351001796067979 + ], + "button_min_z_position": [ + 0.12785544991493225, + -0.4116100072860717, + 0.7689158320426941 + ], + "min_active_finger_to_button": 0.14533670459844464, + "closest_active_finger": [ + -0.012654751539230347, + -0.39782339334487915, + 0.8109235167503357 + ], + "closest_active_finger_button": [ + 0.12787467241287231, + -0.4116124212741851, + 0.7765127420425415 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14052942395210266, + 0.013789027929305975, + 0.03441077470779419 + ], + "min_contact_pad_to_button": 0.021240537580137237, + "closest_contact_pad": [ + 0.12785544991493225, + -0.4142565694482727, + 0.7899908443894242 + ], + "closest_contact_pad_button": [ + 0.12785544991493225, + -0.4116100072860717, + 0.7689158320426941 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002646562162200994, + 0.02107501234673015 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "355eddeadbf2d383f19539bb28614f45d6219a97177b3f6fe8c8bcf6f6b13bc9", + "visual_seed": 1234949297018728541, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..41f9d408ea451d1b88b1874b8fb1dd77ea8c2f6e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "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": [ + 0.24664179628304375, + 0.26688221979910504, + 1.1560649236182257 + ], + "current_z": 1.1560649236182257, + "required_z": 0.8565866710588478, + "initial_z": 0.7565866710588478, + "lift_margin": 0.2994782525593779, + "gripper_z": 1.149269792314616, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24202590271174979, + 0.262090627319038, + 1.149269792314616 + ], + "object_minus_gripper": [ + 0.004615893571293966, + 0.004791592480067053, + 0.006795131303609647 + ], + "object_to_gripper_xy": 0.00665325724412848, + "object_to_gripper_z": 0.006795131303609647, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24664179628304375, + 0.24308358327300886, + 1.1560649236182257 + ], + "finger_b": [ + 0.23576711853729135, + 0.26688221979910504, + 1.1560649236182257 + ], + "finger_midpoint": [ + 0.24120445741016755, + 0.25498290153605696, + 1.1560649236182257 + ], + "object_minus_finger_midpoint": [ + 0.005437338872876202, + 0.011899318263048075, + 0.0 + ], + "finger_gap": 0.026165506235790694, + "fingertip_max_gap": 0.09044718994698303, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013082753117895335, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1560649236182257, + "object_top_z": 1.2015873818823353, + "finger_top_clearance": 0.04552245826410961, + "fingertip_min_top_clearance": 0.013656737479232883, + "object_projection_between_fingers": 0.8272673208886978, + "object_to_finger_line_xy": 0.009890980158281182, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772359497349152, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6272732211177201, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28001021505201085, + -0.35729853102456577, + 0.8470194194307044 + ], + "target_position": [ + 0.27376393455460696, + -0.35728522196155443, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006246294676318626, + "xy_threshold": 0.08, + "gripper_dist": 0.185715048773258, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194194307044, + "min_z": 0.5730800627579278, + "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": 0.0755837867149658, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08518009075318798, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1534858349816387, + "release_required_pad_clearance": 0.052590045376593994, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.24389297638070404, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007874548435211182, + "max_z_decrease": 0.007874548435211182, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035154885046186794, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007874548435211182, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02106651583068475, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007874548435211182, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007874569157165836, + "max_button_displacement": 0.12, + "button_start": [ + 0.12946386635303495, + -0.4135466814041137, + 0.7768088579177856 + ], + "button_final": [ + 0.12946386635303495, + -0.4135466814041137, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12803782895793445, + -0.41194294909257245, + 0.807241763822981 + ], + "closest_button": [ + 0.12945252656936646, + -0.413541942834854, + 0.77215176820755 + ], + "closest_ee_minus_button": [ + -0.0014146976114320087, + 0.0015989937422815625, + 0.03508999561543091 + ], + "button_min_z_position": [ + 0.12944620847702024, + -0.4135428667068481, + 0.7689343094825745 + ], + "min_active_finger_to_button": 0.14671705069207913, + "closest_active_finger": [ + 0.0013013407588005066, + -0.4761461019515991, + 0.8108512163162231 + ], + "closest_active_finger_button": [ + 0.1294647753238678, + -0.41354745626449574, + 0.776479184627533 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1281634345650673, + -0.06259864568710338, + 0.034372031688690186 + ], + "min_contact_pad_to_button": 0.02106651583068475, + "closest_contact_pad": [ + 0.12944620847702024, + -0.4135428667068481, + 0.7900008253132592 + ], + "closest_contact_pad_button": [ + 0.12944620847702024, + -0.4135428667068481, + 0.7689343094825745 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02106651583068475 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ce3a205ab9bfad874ec0548e957f4dabfff2b2b4388a303084f0047eee21a6a", + "visual_seed": 1291898782645143201, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ef23d61ea95e2066cd0ceb33b907f370f9a9a707 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "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": [ + 0.24147680742629898, + 0.26069279601373063, + 1.1579936842003289 + ], + "current_z": 1.1579936842003289, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30140711718711855, + "gripper_z": 1.1510660927010936, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23703742373046074, + 0.25606821386879985, + 1.1510660927010936 + ], + "object_minus_gripper": [ + 0.004439383695838239, + 0.004624582144930778, + 0.006927591499235275 + ], + "object_to_gripper_xy": 0.006410529433212747, + "object_to_gripper_z": 0.006927591499235275, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24147680742629898, + 0.23694508362271016, + 1.1579936842003289 + ], + "finger_b": [ + 0.23094837760735581, + 0.26069279601373063, + 1.1579936842003289 + ], + "finger_midpoint": [ + 0.2362125925168274, + 0.2488189398182204, + 1.1579936842003289 + ], + "object_minus_finger_midpoint": [ + 0.005264214909471571, + 0.011873856195510235, + 0.0 + ], + "finger_gap": 0.025976945129461217, + "fingertip_max_gap": 0.09064228363032181, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012988472564730603, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1579936842003289, + "object_top_z": 1.2034300576558699, + "finger_top_clearance": 0.04543637345554097, + "fingertip_min_top_clearance": 0.013630912036662323, + "object_projection_between_fingers": 0.8357327226298628, + "object_to_finger_line_xy": 0.00962492402487097, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782114181516091, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5661955697811683, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2776668435865096, + -0.35407345799546375, + 0.8470194383637394 + ], + "target_position": [ + 0.2707819780107437, + -0.35421797948850325, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00688638224747339, + "xy_threshold": 0.08, + "gripper_dist": 0.18628803103130592, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194383637394, + "min_z": 0.5730800627579278, + "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": 0.07523837293656158, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549069838526567, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1550060790252744, + "release_required_pad_clearance": 0.05274534919263284, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5410391539893075, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007735490798950195, + "max_z_decrease": 0.007735490798950195, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510960649618433, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007735490798950195, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021177492997233476, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007735490798950195, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007735511806840622, + "max_button_displacement": 0.12, + "button_start": [ + 0.12648190557956696, + -0.41047942638397217, + 0.7768088579177856 + ], + "button_final": [ + 0.12648190557956696, + -0.41047942638397217, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1258669345028281, + -0.41174744104916344, + 0.8078133608306497 + ], + "closest_button": [ + 0.12647192180156708, + -0.4104771018028259, + 0.7727319598197937 + ], + "closest_ee_minus_button": [ + -0.0006049872987389793, + -0.0012703392463375152, + 0.035081401010855995 + ], + "button_min_z_position": [ + 0.1264643669128418, + -0.4104752540588379, + 0.7690733671188354 + ], + "min_active_finger_to_button": 0.14668212418714965, + "closest_active_finger": [ + -0.015460632741451263, + -0.39699968695640564, + 0.8105558753013611 + ], + "closest_active_finger_button": [ + 0.12648004293441772, + -0.41048038005828863, + 0.7761064767837524 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.141940675675869, + 0.01348069310188299, + 0.03444939851760864 + ], + "min_contact_pad_to_button": 0.021177492997233476, + "closest_contact_pad": [ + 0.1264643669128418, + -0.412741700527435, + 0.790129231623834 + ], + "closest_contact_pad_button": [ + 0.1264643669128418, + -0.4104752540588379, + 0.7690733671188354 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002266446468597083, + 0.021055864504998523 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "71fa65f64cc8494fe9c7dbf1e9e5b758c6b9c6fb6d3c67cbda9f481c62dd8e2d", + "visual_seed": 389555894794743298, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..56f8ef51a9fc82bac15718ed93768bc3484ea9a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "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": [ + 0.2472924866083577, + 0.2668389341271506, + 1.1580511816764212 + ], + "current_z": 1.1580511816764212, + "required_z": 0.8565866038850057, + "initial_z": 0.7565866038850058, + "lift_margin": 0.30146457779141544, + "gripper_z": 1.1511222355312836, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24270678271266144, + 0.26223333661218434, + 1.1511222355312836 + ], + "object_minus_gripper": [ + 0.004585703895696264, + 0.004605597514966253, + 0.0069289461451376155 + ], + "object_to_gripper_xy": 0.006499246778578823, + "object_to_gripper_z": 0.0069289461451376155, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2472924866083577, + 0.24282259685264412, + 1.1580511816764212 + ], + "finger_b": [ + 0.23699873533659072, + 0.2668389341271506, + 1.1580511816764212 + ], + "finger_midpoint": [ + 0.24214561097247422, + 0.25483076548989736, + 1.1580511816764212 + ], + "object_minus_finger_midpoint": [ + 0.00514687563588348, + 0.012008168637253236, + 0.0 + ], + "finger_gap": 0.026129404343150524, + "fingertip_max_gap": 0.09057596901993317, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013064702171575257, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1580511816764212, + "object_top_z": 1.2035335365974063, + "finger_top_clearance": 0.04548235492098507, + "fingertip_min_top_clearance": 0.013644706476295553, + "object_projection_between_fingers": 0.8448012134312846, + "object_to_finger_line_xy": 0.009461302642646758, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778798450996659, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5688616941888248, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.277881493891598, + -0.3563190089873439, + 0.8470192158182148 + ], + "target_position": [ + 0.2718033596837203, + -0.35618707839354435, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006079565866947495, + "xy_threshold": 0.08, + "gripper_dist": 0.18523600760701245, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192158182148, + "min_z": 0.5730800627579278, + "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": 0.07560491339559197, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557383550343307, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15313608139057824, + "release_required_pad_clearance": 0.05278691775171654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6192839032493408, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0077828168869018555, + "max_z_decrease": 0.0077828168869018555, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351230631592456, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0077828168869018555, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021074811805409602, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0077828168869018555, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007782839991347716, + "max_button_displacement": 0.12, + "button_start": [ + 0.12750329077243805, + -0.4124485254287719, + 0.7768088579177856 + ], + "button_final": [ + 0.12750329077243805, + -0.4124485254287719, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12819560968714883, + -0.4114786480668676, + 0.8078877586110785 + ], + "closest_button": [ + 0.1274966299533844, + -0.4124470949172973, + 0.7727850079536438 + ], + "closest_ee_minus_button": [ + 0.0006989797337644266, + 0.0009684468504296828, + 0.035102750657434734 + ], + "button_min_z_position": [ + 0.12748442590236664, + -0.4124465882778167, + 0.7690260410308838 + ], + "min_active_finger_to_button": 0.14516616446401542, + "closest_active_finger": [ + 0.0007697492837905884, + -0.4743722975254059, + 0.8109001517295837 + ], + "closest_active_finger_button": [ + 0.12750329077243805, + -0.4124480783939361, + 0.776589572429657 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12673354148864746, + -0.06192421913146978, + 0.03431057929992676 + ], + "min_contact_pad_to_button": 0.021074811805409602, + "closest_contact_pad": [ + 0.12748442590236664, + -0.4125511774006738, + 0.7901005933096111 + ], + "closest_contact_pad_button": [ + 0.12748442590236664, + -0.4124465882778167, + 0.7690260410308838 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00010458912285710165, + 0.021074552278727343 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4250076e31b9ced470e9d64307bd7fa57ab74d0a964622477ed52ff4d276b7ea", + "visual_seed": 5455418380417958548, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9977bede3355fbf4d154a9e4b52a532f3324f05a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "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": [ + 0.25037301331493433, + 0.2691884368479936, + 1.1554706004548871 + ], + "current_z": 1.1554706004548871, + "required_z": 0.8565866368755285, + "initial_z": 0.7565866368755285, + "lift_margin": 0.29888396357935865, + "gripper_z": 1.148560167847093, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24575381226222676, + 0.26440889194008593, + 1.148560167847093 + ], + "object_minus_gripper": [ + 0.004619201052707578, + 0.004779544907907662, + 0.006910432607794226 + ], + "object_to_gripper_xy": 0.006646884073913195, + "object_to_gripper_z": 0.006910432607794226, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25037301331493433, + 0.24551294186793438, + 1.1554706004548871 + ], + "finger_b": [ + 0.23935797709479414, + 0.2691884368479936, + 1.1554706004548871 + ], + "finger_midpoint": [ + 0.24486549520486423, + 0.257350689357964, + 1.1554706004548871 + ], + "object_minus_finger_midpoint": [ + 0.005507518110070109, + 0.011837747490029582, + 0.0 + ], + "finger_gap": 0.026112450775095962, + "fingertip_max_gap": 0.09033826308209494, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01305622538754796, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1554706004548871, + "object_top_z": 1.200950064559391, + "finger_top_clearance": 0.045479464104503764, + "fingertip_min_top_clearance": 0.013643839231351129, + "object_projection_between_fingers": 0.8220587690724461, + "object_to_finger_line_xy": 0.009987053187049653, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047669131541047474, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3477364120685912, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28044668153498165, + -0.35786514000952846, + 0.8470195745254367 + ], + "target_position": [ + 0.27412959441041307, + -0.3579822692134949, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0063181729154726295, + "xy_threshold": 0.08, + "gripper_dist": 0.18472588822557387, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195745254367, + "min_z": 0.5730800627579278, + "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": 0.0756853588625663, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566802175946468, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15234359063815237, + "release_required_pad_clearance": 0.05283401087973234, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7121654014240502, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007863104343414307, + "max_z_decrease": 0.007863104343414307, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514439137871679, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007863104343414307, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021060899466634652, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007863104343414307, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007863124111860246, + "max_button_displacement": 0.12, + "button_start": [ + 0.12982952594757077, + -0.4142437279224396, + 0.7768088579177856 + ], + "button_final": [ + 0.12982952594757077, + -0.4142437279224396, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12791675920742104, + -0.41391129831782253, + 0.8063664309755183 + ], + "closest_button": [ + 0.1298161447048187, + -0.4142380058765412, + 0.7712749242782593 + ], + "closest_ee_minus_button": [ + -0.0018993854973976543, + 0.0003267075587186641, + 0.03509150669725902 + ], + "button_min_z_position": [ + 0.12981219589710233, + -0.4142404794692993, + 0.7689457535743713 + ], + "min_active_finger_to_button": 0.14758902093219928, + "closest_active_finger": [ + 0.00025235116481781006, + -0.4760206937789917, + 0.8107597231864929 + ], + "closest_active_finger_button": [ + 0.1298299133777618, + -0.41424465179443365, + 0.7764683961868286 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.129577562212944, + -0.06177604198455805, + 0.03429132699966431 + ], + "min_contact_pad_to_button": 0.021060899466634652, + "closest_contact_pad": [ + 0.12981219589710233, + -0.4151599502624989, + 0.7899865724701307 + ], + "closest_contact_pad_button": [ + 0.12981219589710233, + -0.4142404794692993, + 0.7689457535743713 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009194707931995949, + 0.021040818895759372 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d9b88ba1838312f4b4e2b039dd9849aa4a92f31201aa8461e1a1ae8d871cf86", + "visual_seed": 6037014270422338001, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8a4734bffa3101c6ee06bd852606191bccfeda06 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "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": [ + 0.2503007905257961, + 0.2621504083524509, + 1.1562607764735187 + ], + "current_z": 1.1562607764735187, + "required_z": 0.856586598216, + "initial_z": 0.756586598216, + "lift_margin": 0.29967417825751863, + "gripper_z": 1.1494002859125754, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2456286150152914, + 0.2574157712205456, + 1.1494002859125754 + ], + "object_minus_gripper": [ + 0.0046721755105047225, + 0.004734637131905306, + 0.006860490560943289 + ], + "object_to_gripper_xy": 0.006651767642647822, + "object_to_gripper_z": 0.006860490560943289, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2503007905257961, + 0.23822957955681065, + 1.1562607764735187 + ], + "finger_b": [ + 0.23960839603887735, + 0.2621504083524509, + 1.1562607764735187 + ], + "finger_midpoint": [ + 0.24495459328233674, + 0.25018999395463076, + 1.1562607764735187 + ], + "object_minus_finger_midpoint": [ + 0.0053461972434593885, + 0.01196041439782014, + 0.0 + ], + "finger_gap": 0.026201781430548247, + "fingertip_max_gap": 0.09033523703573829, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013100890715274136, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1562607764735187, + "object_top_z": 1.2017438439285786, + "finger_top_clearance": 0.04548306745505992, + "fingertip_min_top_clearance": 0.01364492023651801, + "object_projection_between_fingers": 0.8334716007000402, + "object_to_finger_line_xy": 0.009761585814880217, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047667618517869145, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6475884192575546, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27493852047446266, + -0.354808070694968, + 0.8470194722146132 + ], + "target_position": [ + 0.26826251043881616, + -0.3549922351401986, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006678549733208538, + "xy_threshold": 0.08, + "gripper_dist": 0.18793013306126577, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194722146132, + "min_z": 0.5730800627579278, + "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": 0.07538193761404882, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08542297696710453, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15619249750463007, + "release_required_pad_clearance": 0.05271148848355227, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.47642213753639845, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007718682289123535, + "max_z_decrease": 0.007718682289123535, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035105285115537004, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007718682289123535, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0210850790824859, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007718682289123535, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007718705801473139, + "max_button_displacement": 0.12, + "button_start": [ + 0.12396243959665297, + -0.41125369071960455, + 0.7768088579177856 + ], + "button_final": [ + 0.12396243959665297, + -0.41125369071960455, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12477912555217513, + -0.410645166360666, + 0.8076372172758364 + ], + "closest_button": [ + 0.12395181506872177, + -0.4112496078014374, + 0.7725468873977661 + ], + "closest_ee_minus_button": [ + 0.0008273104834533584, + 0.000604441440771375, + 0.03509032987807026 + ], + "button_min_z_position": [ + 0.12394349277019498, + -0.41125169396400457, + 0.7690901756286621 + ], + "min_active_finger_to_button": 0.14522340490228822, + "closest_active_finger": [ + -0.0017634257674217224, + -0.47527170181274414, + 0.8105385303497314 + ], + "closest_active_finger_button": [ + 0.12396296858787535, + -0.4112520217895508, + 0.7761264443397522 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1257263943552971, + -0.06401968002319336, + 0.03441208600997925 + ], + "min_contact_pad_to_button": 0.0210850790824859, + "closest_contact_pad": [ + 0.12394349277019498, + -0.4115353286635138, + 0.7901733469098503 + ], + "closest_contact_pad_button": [ + 0.12394349277019498, + -0.41125169396400457, + 0.7690901756286621 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002836346995092054, + 0.021083171281188196 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "481218c1cd1c0044fd2f837207cf46971b047c357637bcd7c3afb681021d8945", + "visual_seed": 4713754758698665521, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7eb9e0e6c0a9ef1362be1407bbb301eb6886866e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "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": [ + 0.2423529776527832, + 0.26392457233732974, + 1.155862632422009 + ], + "current_z": 1.155862632422009, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.29927612501344336, + "gripper_z": 1.14892476658846, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23781479534044658, + 0.25922567152368015, + 1.14892476658846 + ], + "object_minus_gripper": [ + 0.0045381823123366305, + 0.004698900813649598, + 0.006937865833548829 + ], + "object_to_gripper_xy": 0.006532592713197563, + "object_to_gripper_z": 0.006937865833548829, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2423529776527832, + 0.24019027930182285, + 1.155862632422009 + ], + "finger_b": [ + 0.23161210746859093, + 0.26392457233732974, + 1.155862632422009 + ], + "finger_midpoint": [ + 0.23698254256068707, + 0.2520574258195763, + 1.155862632422009 + ], + "object_minus_finger_midpoint": [ + 0.005370435092096143, + 0.011867146517753446, + 0.0 + ], + "finger_gap": 0.026051544257663147, + "fingertip_max_gap": 0.09060320725939036, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013025772128831574, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.155862632422009, + "object_top_z": 1.2012857972130548, + "finger_top_clearance": 0.04542316479104591, + "fingertip_min_top_clearance": 0.013626949437313773, + "object_projection_between_fingers": 0.8300144553237082, + "object_to_finger_line_xy": 0.009785483650665784, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780160362969518, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6489384466117909, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2744117661181752, + -0.3504878346282894, + 0.8470191986664667 + ], + "target_position": [ + 0.2680277889096812, + -0.35051323192956374, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006384027727186237, + "xy_threshold": 0.08, + "gripper_dist": 0.18628784082743832, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191986664667, + "min_z": 0.5730800627579278, + "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": 0.07574257921093201, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541885698337932, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15357791669315377, + "release_required_pad_clearance": 0.052709428491689664, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.469800590128347, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007615387439727783, + "max_z_decrease": 0.007615387439727783, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035158533965854895, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007615387439727783, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021273480811470426, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007615387439727783, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007615413222317993, + "max_button_displacement": 0.12, + "button_start": [ + 0.12372771650552748, + -0.40677469968795765, + 0.7768088579177856 + ], + "button_final": [ + 0.12372771650552748, + -0.40677469968795765, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12471256570087774, + -0.40882113516619845, + 0.8076390845125582 + ], + "closest_button": [ + 0.12371614575386046, + -0.4067700505256652, + 0.7725545763969421 + ], + "closest_ee_minus_button": [ + 0.0009964199470172824, + -0.0020510846405332184, + 0.03508450811561603 + ], + "button_min_z_position": [ + 0.12370809912681578, + -0.40677189826965326, + 0.7691934704780579 + ], + "min_active_finger_to_button": 0.14507109661824485, + "closest_active_finger": [ + -0.016703717410564423, + -0.39517349004745483, + 0.8113060593605042 + ], + "closest_active_finger_button": [ + 0.1237271949648857, + -0.4067740440368651, + 0.776806652545929 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14043091237545013, + 0.01160055398941029, + 0.034499406814575195 + ], + "min_contact_pad_to_button": 0.021273480811470426, + "closest_contact_pad": [ + 0.12370809912681578, + -0.4096636456320262, + 0.790269494368446 + ], + "closest_contact_pad_button": [ + 0.12370809912681578, + -0.40677189826965326, + 0.7691934704780579 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028917473623729095, + 0.021076023890388096 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b703c4ecf5253c2e683a3b0ac38a274a7dd462b5a9fa871227e42c428b9b0a69", + "visual_seed": 6440512716015199960, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..63d8319aba974e60023a107e0b17e1d1f75cdd3b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "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": [ + 0.24570371524568374, + 0.2603822018560938, + 1.1566356184264195 + ], + "current_z": 1.1566356184264195, + "required_z": 0.8565866087218957, + "initial_z": 0.7565866087218958, + "lift_margin": 0.30004900970452375, + "gripper_z": 1.1496931777824893, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24101935077970485, + 0.25557428547894145, + 1.1496931777824893 + ], + "object_minus_gripper": [ + 0.004684364465978891, + 0.0048079163771523326, + 0.006942440643930237 + ], + "object_to_gripper_xy": 0.006712624698269322, + "object_to_gripper_z": 0.006942440643930237, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24570371524568374, + 0.23668266223370904, + 1.1566356184264195 + ], + "finger_b": [ + 0.23462187256239186, + 0.2603822018560938, + 1.1566356184264195 + ], + "finger_midpoint": [ + 0.2401627939040378, + 0.2485324320449014, + 1.1566356184264195 + ], + "object_minus_finger_midpoint": [ + 0.005540921341645938, + 0.011849769811192373, + 0.0 + ], + "finger_gap": 0.02616248106679132, + "fingertip_max_gap": 0.09022132395608273, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01308124053339566, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1566356184264195, + "object_top_z": 1.202048260752107, + "finger_top_clearance": 0.045412642325687536, + "fingertip_min_top_clearance": 0.01362379269770626, + "object_projection_between_fingers": 0.8205819603397692, + "object_to_finger_line_xy": 0.010038595693245573, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04761066197804137, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3476736237919456, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2734738691853632, + -0.3521763641714745, + 0.8470196853250409 + ], + "target_position": [ + 0.26676243345073664, + -0.35228606091108156, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006712332157656003, + "xy_threshold": 0.08, + "gripper_dist": 0.1845593606880117, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196853250409, + "min_z": 0.5730800627579278, + "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": 0.07550309135915964, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851734119162814, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15257704066201672, + "release_required_pad_clearance": 0.0525867059581407, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23738787222721344, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007381796836853027, + "max_z_decrease": 0.007381796836853027, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035094251008748, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007381796836853027, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021109791004861045, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007381796836853027, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007381815091432728, + "max_button_displacement": 0.12, + "button_start": [ + 0.12246236205101013, + -0.4085475206375122, + 0.7768088579177856 + ], + "button_final": [ + 0.12246236205101013, + -0.4085475206375122, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12191675218961073, + -0.4088044651554013, + 0.8080015849867832 + ], + "closest_button": [ + 0.12245213240385056, + -0.4085442125797272, + 0.7729123830795288 + ], + "closest_ee_minus_button": [ + -0.0005353802142398223, + -0.00026025257567413584, + 0.0350892019072544 + ], + "button_min_z_position": [ + 0.12244606018066406, + -0.408545583486557, + 0.7694270610809326 + ], + "min_active_finger_to_button": 0.14670304385137622, + "closest_active_finger": [ + -0.019267849624156952, + -0.3928208351135254, + 0.8108279705047607 + ], + "closest_active_finger_button": [ + 0.12246228754520416, + -0.4085465669631958, + 0.776374340057373 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14173013716936111, + 0.01572573184967041, + 0.034453630447387695 + ], + "min_contact_pad_to_button": 0.021109791004861045, + "closest_contact_pad": [ + 0.12244606018066406, + -0.4098532546493741, + 0.7904963105312298 + ], + "closest_contact_pad_button": [ + 0.12244606018066406, + -0.408545583486557, + 0.7694270610809326 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013076711628171034, + 0.0210692494502972 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eb0f4fcd09d3824b2a317f09c742c74e8ae7736cbe36d7c8bc46b650d2ae2b72", + "visual_seed": 1628060625861404162, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc4c1c649d5650e43f7d6960a54bc64e76e1adb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "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": [ + 0.24825216265162497, + 0.2661951292253715, + 1.1562070261739585 + ], + "current_z": 1.1562070261739585, + "required_z": 0.8565866752543884, + "initial_z": 0.7565866752543884, + "lift_margin": 0.2996203509195702, + "gripper_z": 1.1492701357278778, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24366020341187578, + 0.26160485853675547, + 1.1492701357278778 + ], + "object_minus_gripper": [ + 0.004591959239749199, + 0.004590270688616005, + 0.006936890446080701 + ], + "object_to_gripper_xy": 0.006492817158544148, + "object_to_gripper_z": 0.006936890446080701, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24825216265162497, + 0.24212848208129545, + 1.1562070261739585 + ], + "finger_b": [ + 0.2380419610768203, + 0.2661951292253715, + 1.1562070261739585 + ], + "finger_midpoint": [ + 0.24314706186422264, + 0.25416180565333346, + 1.1562070261739585 + ], + "object_minus_finger_midpoint": [ + 0.005105100787402339, + 0.012033323572038013, + 0.0 + ], + "finger_gap": 0.026142909573259182, + "fingertip_max_gap": 0.09058117398182186, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013071454786629591, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1562070261739585, + "object_top_z": 1.2016840332073868, + "finger_top_clearance": 0.045477007033428274, + "fingertip_min_top_clearance": 0.013643102110028449, + "object_projection_between_fingers": 0.8474680610177068, + "object_to_finger_line_xy": 0.009399310275014644, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779058699091093, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5661793326805705, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27883958913382206, + -0.3538594014018146, + 0.8470199582995455 + ], + "target_position": [ + 0.2728479987176742, + -0.3538086740058974, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005991805152336959, + "xy_threshold": 0.08, + "gripper_dist": 0.1851775283696272, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199582995455, + "min_z": 0.5730800627579278, + "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": 0.0758724799275658, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08679719016742367, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15244523861078746, + "release_required_pad_clearance": 0.053398595083711836, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8105079840470024, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007755756378173828, + "max_z_decrease": 0.007755756378173828, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035122127068063475, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007755756378173828, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021198899955213787, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007755756378173828, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007755779725734287, + "max_button_displacement": 0.12, + "button_start": [ + 0.12854792177677152, + -0.41007012128829956, + 0.7768088579177856 + ], + "button_final": [ + 0.12854792177677152, + -0.41007012128829956, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1278292214291181, + -0.4115119978150743, + 0.807669425539793 + ], + "closest_button": [ + 0.12853662669658658, + -0.4100676476955414, + 0.7725841403007507 + ], + "closest_ee_minus_button": [ + -0.0007074052674684861, + -0.0014443501195329222, + 0.03508528523904231 + ], + "button_min_z_position": [ + 0.12852926552295682, + -0.4100663661956787, + 0.7690531015396118 + ], + "min_active_finger_to_button": 0.1467332785014974, + "closest_active_finger": [ + -0.013425245881080627, + -0.3962756395339966, + 0.8110113739967346 + ], + "closest_active_finger_button": [ + 0.12854805588722226, + -0.41007098555564875, + 0.7766031622886658 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1419733017683029, + 0.013795346021652166, + 0.03440821170806885 + ], + "min_contact_pad_to_button": 0.021198899955213787, + "closest_contact_pad": [ + 0.12852926552295682, + -0.4125683116473309, + 0.7901038409154181 + ], + "closest_contact_pad_button": [ + 0.12852926552295682, + -0.4100663661956787, + 0.7690531015396118 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025019454516521655, + 0.02105073937580626 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "20af7fc59a7584afd67c8536e6ee28a12828bd77ccc6f3dd4f19ab8a994c761a", + "visual_seed": 6477028306348529387, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2236a6cf040c5556b7edfca6568ebbbd775f28b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "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": [ + 0.2431907906262902, + 0.25923559025079596, + 1.1553360620362774 + ], + "current_z": 1.1553360620362774, + "required_z": 0.8565866840796127, + "initial_z": 0.7565866840796127, + "lift_margin": 0.2987493779566647, + "gripper_z": 1.148516114072493, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23855753563342727, + 0.25442269976847337, + 1.148516114072493 + ], + "object_minus_gripper": [ + 0.004633254992862934, + 0.004812890482322585, + 0.0068199479637842675 + ], + "object_to_gripper_xy": 0.006680641183578162, + "object_to_gripper_z": 0.0068199479637842675, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2431907906262902, + 0.23554467950410818, + 1.1553360620362774 + ], + "finger_b": [ + 0.2321425957345461, + 0.25923559025079596, + 1.1553360620362774 + ], + "finger_midpoint": [ + 0.23766669318041816, + 0.24739013487745207, + 1.1553360620362774 + ], + "object_minus_finger_midpoint": [ + 0.005524097445872039, + 0.011845455373343888, + 0.0 + ], + "finger_gap": 0.026140425826169836, + "fingertip_max_gap": 0.09010650648642035, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013070212913084911, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1553360620362774, + "object_top_z": 1.2007541731643832, + "finger_top_clearance": 0.04541811112810579, + "fingertip_min_top_clearance": 0.013625433338431735, + "object_projection_between_fingers": 0.8213687910672407, + "object_to_finger_line_xy": 0.010012912598779676, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04755325324321018, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3807660990460639, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2824203761309164, + -0.35637891767295193, + 0.8470195459208607 + ], + "target_position": [ + 0.2750060238681264, + -0.35696040194235806, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0074371192966300025, + "xy_threshold": 0.08, + "gripper_dist": 0.18560224621529844, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195459208607, + "min_z": 0.5730800627579278, + "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": 0.07537313923807999, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08517984397598873, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15398973546433503, + "release_required_pad_clearance": 0.052589921987994365, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.24389309927748418, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007696747779846191, + "max_z_decrease": 0.007696747779846191, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510169750213946, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007696747779846191, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021075051889480906, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007696747779846191, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007696766084146348, + "max_button_displacement": 0.12, + "button_start": [ + 0.13070595264434814, + -0.4132218658924103, + 0.7768088579177856 + ], + "button_final": [ + 0.13070595264434814, + -0.4132218658924103, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13059923741925755, + -0.41275617287046257, + 0.8079843205313211 + ], + "closest_button": [ + 0.13069649040699005, + -0.41321825981140137, + 0.772885799407959 + ], + "closest_ee_minus_button": [ + -9.725298773249902e-05, + 0.00046208694093879954, + 0.03509852112336209 + ], + "button_min_z_position": [ + 0.13068929314613345, + -0.4132198095321655, + 0.7691121101379395 + ], + "min_active_finger_to_button": 0.14608101428210205, + "closest_active_finger": [ + 0.004094347357749939, + -0.47747719287872314, + 0.8106698989868164 + ], + "closest_active_finger_button": [ + 0.13070575892925262, + -0.41322100162506104, + 0.7763136029243469 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12661141157150269, + -0.06425619125366211, + 0.03435629606246948 + ], + "min_contact_pad_to_button": 0.021075051889480906, + "closest_contact_pad": [ + 0.13068929314613345, + -0.41362634755648336, + 0.79018324060071 + ], + "closest_contact_pad_button": [ + 0.13068929314613345, + -0.4132198095321655, + 0.7691121101379395 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00040653802431783737, + 0.021071130462770538 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "964dd912fcc4717f8321d4db7933fbc7e63b007ae97eb069e451968d140b7fdb", + "visual_seed": 9193657577283157079, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..477580b089f106686a66c2dd33b2b9f03882d21f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "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": [ + 0.2450271124657632, + 0.25893217228574616, + 1.1561946405489307 + ], + "current_z": 1.1561946405489307, + "required_z": 0.8565866204805875, + "initial_z": 0.7565866204805876, + "lift_margin": 0.2996080200683432, + "gripper_z": 1.1492593723829831, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24052307970659456, + 0.25433397547147213, + 1.1492593723829831 + ], + "object_minus_gripper": [ + 0.004504032759168636, + 0.004598196814274036, + 0.0069352681659475834 + ], + "object_to_gripper_xy": 0.006436592657490772, + "object_to_gripper_z": 0.0069352681659475834, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2450271124657632, + 0.23512957309371735, + 1.1561946405489307 + ], + "finger_b": [ + 0.2345399383985174, + 0.25893217228574616, + 1.1561946405489307 + ], + "finger_midpoint": [ + 0.2397835254321403, + 0.24703087268973176, + 1.1561946405489307 + ], + "object_minus_finger_midpoint": [ + 0.005243587033622904, + 0.011901299596014409, + 0.0 + ], + "finger_gap": 0.026010469972937513, + "fingertip_max_gap": 0.09055775591099802, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013005234986468757, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1561946405489307, + "object_top_z": 1.2016594338589468, + "finger_top_clearance": 0.04546479331001607, + "fingertip_min_top_clearance": 0.013639437993004854, + "object_projection_between_fingers": 0.8374374308281713, + "object_to_finger_line_xy": 0.009596981570860074, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777887795549901, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5367821006386593, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2800154420410398, + -0.3536550761914984, + 0.8470194618824888 + ], + "target_position": [ + 0.2730220824616748, + -0.35403451470767894, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0070036456073859985, + "xy_threshold": 0.08, + "gripper_dist": 0.1862210624996515, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194618824888, + "min_z": 0.5730800627579278, + "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": 0.0754891105875317, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856826716066408, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15426767898420315, + "release_required_pad_clearance": 0.0528413358033204, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7263122131423625, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007716536521911621, + "max_z_decrease": 0.007716536521911621, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514836625300405, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007716536521911621, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021071259183648182, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007716536521911621, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007716559651656022, + "max_button_displacement": 0.12, + "button_start": [ + 0.1287220120429992, + -0.4102959632873535, + 0.7768088579177856 + ], + "button_final": [ + 0.1287220120429992, + -0.4102959632873535, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12986261977070315, + -0.4094382863282174, + 0.8079256513883725 + ], + "closest_button": [ + 0.12871266901493067, + -0.4102964401245117, + 0.7728065848350525 + ], + "closest_ee_minus_button": [ + 0.001149950755772483, + 0.0008581537962943364, + 0.03511906655331998 + ], + "button_min_z_position": [ + 0.128703162074089, + -0.41029468178749084, + 0.769092321395874 + ], + "min_active_finger_to_button": 0.144796322880921, + "closest_active_finger": [ + 0.0015408620238304138, + -0.47045931220054626, + 0.810830295085907 + ], + "closest_active_finger_button": [ + 0.12872196733951563, + -0.4102959632873535, + 0.7766058444976807 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12718110531568522, + -0.06016334891319275, + 0.03422445058822632 + ], + "min_contact_pad_to_button": 0.021071259183648182, + "closest_contact_pad": [ + 0.128703162074089, + -0.41068967698618686, + 0.7901598780263304 + ], + "closest_contact_pad_button": [ + 0.128703162074089, + -0.41029468178749084, + 0.769092321395874 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003949951986960132, + 0.02106755663045634 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4f6ee7b3834efa5f82fd084840165d9b8f2e6ecc7ea4c1c1ef631fe88252d507", + "visual_seed": 6417338130643975400, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..51172970293b81dfe823dedc09c9a7c43e80c614 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "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": [ + 0.2498189233536281, + 0.26950539632112086, + 1.1583004509008734 + ], + "current_z": 1.1583004509008734, + "required_z": 0.8565865291073513, + "initial_z": 0.7565865291073514, + "lift_margin": 0.3017139217935221, + "gripper_z": 1.1513967999297674, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24528001761024762, + 0.2648056242166803, + 1.1513967999297674 + ], + "object_minus_gripper": [ + 0.004538905743380478, + 0.004699772104440558, + 0.006903650971106012 + ], + "object_to_gripper_xy": 0.006533722000588173, + "object_to_gripper_z": 0.006903650971106012, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2498189233536281, + 0.24581695317172803, + 1.1583004509008734 + ], + "finger_b": [ + 0.2390077230609944, + 0.26950539632112086, + 1.1583004509008734 + ], + "finger_midpoint": [ + 0.24441332320731124, + 0.25766117474642447, + 1.1583004509008734 + ], + "object_minus_finger_midpoint": [ + 0.005405600146316858, + 0.01184422157469639, + 0.0 + ], + "finger_gap": 0.026038901486227468, + "fingertip_max_gap": 0.09052339208702109, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013019450743113715, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1583004509008734, + "object_top_z": 1.2037657783178841, + "finger_top_clearance": 0.045465327417010704, + "fingertip_min_top_clearance": 0.013639598225103244, + "object_projection_between_fingers": 0.8276137947450822, + "object_to_finger_line_xy": 0.009835303676086678, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776169604351055, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5199212103920052, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2745635079073594, + -0.3561354795533882, + 0.8470195217344707 + ], + "target_position": [ + 0.26816410525504436, + -0.3563075904818982, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006401716682122793, + "xy_threshold": 0.08, + "gripper_dist": 0.18726245311258893, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195217344707, + "min_z": 0.5730800627579278, + "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": 0.07565278001522724, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562570587455438, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1548147638617687, + "release_required_pad_clearance": 0.052812852937277194, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6714358621577049, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007592141628265381, + "max_z_decrease": 0.007592141628265381, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035159521063930464, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007592141628265381, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021254622926518616, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007592141628265381, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007592164746540934, + "max_button_displacement": 0.12, + "button_start": [ + 0.1238640323281288, + -0.4125690460205078, + 0.7768088579177856 + ], + "button_final": [ + 0.1238640323281288, + -0.4125690460205078, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12245661538540187, + -0.4144988175072983, + 0.8080331243120338 + ], + "closest_button": [ + 0.12385767698287964, + -0.41256773471832275, + 0.7729546427726746 + ], + "closest_ee_minus_button": [ + -0.0014010615974777707, + -0.0019310827889755244, + 0.03507848153935922 + ], + "button_min_z_position": [ + 0.12384562939405441, + -0.41256552934646606, + 0.7692167162895203 + ], + "min_active_finger_to_button": 0.14733103575468498, + "closest_active_finger": [ + -0.018494129180908203, + -0.3964392840862274, + 0.8111449480056763 + ], + "closest_active_finger_button": [ + 0.12386490404605864, + -0.41256916522979736, + 0.7767913937568665 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14235903322696686, + 0.016129881143569946, + 0.034353554248809814 + ], + "min_contact_pad_to_button": 0.021254622926518616, + "closest_contact_pad": [ + 0.12384562939405441, + -0.4157722336888918, + 0.7902280475897677 + ], + "closest_contact_pad_button": [ + 0.12384562939405441, + -0.41256552934646606, + 0.7692167162895203 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003206704342425759, + 0.02101133130024746 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d40d4d1d80387cae207f918f10a1130675e4b1d0fe521a5bd35077f5d1142467", + "visual_seed": 1072952969337891591, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ed3229edd71f27f3c3a53a262042be854abfb1f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "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": [ + 0.24955053596746127, + 0.26774194008766733, + 1.1581404109637554 + ], + "current_z": 1.1581404109637554, + "required_z": 0.8565865831485985, + "initial_z": 0.7565865831485985, + "lift_margin": 0.30155382781515694, + "gripper_z": 1.1512274010500496, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2449941178685901, + 0.26304752472272214, + 1.1512274010500496 + ], + "object_minus_gripper": [ + 0.004556418098871168, + 0.0046944153649451925, + 0.006913009913705803 + ], + "object_to_gripper_xy": 0.006542054838531565, + "object_to_gripper_z": 0.006913009913705803, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24955053596746127, + 0.24391879888333443, + 1.1581404109637554 + ], + "finger_b": [ + 0.23891080648322086, + 0.26774194008766733, + 1.1581404109637554 + ], + "finger_midpoint": [ + 0.24423067122534106, + 0.25583036948550086, + 1.1581404109637554 + ], + "object_minus_finger_midpoint": [ + 0.005319864742120206, + 0.011911570602166466, + 0.0 + ], + "finger_gap": 0.02609110768709138, + "fingertip_max_gap": 0.09054376792253402, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013045553843545703, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1581404109637554, + "object_top_z": 1.2035968611320358, + "finger_top_clearance": 0.04545645016828037, + "fingertip_min_top_clearance": 0.013636935050484111, + "object_projection_between_fingers": 0.8337061693043252, + "object_to_finger_line_xy": 0.009714872243786301, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777188396126701, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5123828907807622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28187753928182846, + -0.35284214552663434, + 0.8470189408058256 + ], + "target_position": [ + 0.2754373281839465, + -0.3529478206252752, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006441078031801403, + "xy_threshold": 0.08, + "gripper_dist": 0.18696836763572025, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470189408058256, + "min_z": 0.5730800627579278, + "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": 0.07569903017233139, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522981692267924, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15456972505202915, + "release_required_pad_clearance": 0.05261490846133962, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.28248058933834436, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007714390754699707, + "max_z_decrease": 0.007714390754699707, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035117555832722754, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007714390754699707, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02107874689959054, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007714390754699707, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007714417491813028, + "max_button_displacement": 0.12, + "button_start": [ + 0.13113725185394287, + -0.40920928120613104, + 0.7768088579177856 + ], + "button_final": [ + 0.13113725185394287, + -0.40920928120613104, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13154212164743392, + -0.4088578658572674, + 0.8079479548483158 + ], + "closest_button": [ + 0.13112799823284146, + -0.40920925140380865, + 0.7728345990180969 + ], + "closest_ee_minus_button": [ + 0.00041412341459245994, + 0.00035138554654123855, + 0.035113355830218906 + ], + "button_min_z_position": [ + 0.1311170309782028, + -0.4092073738574982, + 0.7690944671630859 + ], + "min_active_finger_to_button": 0.14565571454583387, + "closest_active_finger": [ + 0.003687925636768341, + -0.4708523154258728, + 0.8108807802200317 + ], + "closest_active_finger_button": [ + 0.1311376839876175, + -0.40920886397361755, + 0.776642918586731 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12744975835084915, + -0.06164345145225525, + 0.03423786163330078 + ], + "min_contact_pad_to_button": 0.02107874689959054, + "closest_contact_pad": [ + 0.1311170309782028, + -0.4100148866376598, + 0.7901577407445327 + ], + "closest_contact_pad_button": [ + 0.1311170309782028, + -0.4092073738574982, + 0.7690944671630859 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008075127801615567, + 0.021063273581446773 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d63c3cb80ec02a338460e1cbd87ef86f233afa903e6de4282438438907208fd3", + "visual_seed": 2423256192458127599, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1f45f51c3005d719d10d20ddc48399562e8b9273 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "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": [ + 0.24856032367320613, + 0.2641483851881627, + 1.156976070173301 + ], + "current_z": 1.156976070173301, + "required_z": 0.8565865982666633, + "initial_z": 0.7565865982666633, + "lift_margin": 0.3003894719066377, + "gripper_z": 1.1500543735186206, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.243984749323717, + 0.2594707897333502, + 1.1500543735186206 + ], + "object_minus_gripper": [ + 0.004575574349489131, + 0.0046775954548125, + 0.006921696654680343 + ], + "object_to_gripper_xy": 0.006543376793872216, + "object_to_gripper_z": 0.006921696654680343, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24856032367320613, + 0.24029983381880693, + 1.156976070173301 + ], + "finger_b": [ + 0.2379472148994366, + 0.2641483851881627, + 1.156976070173301 + ], + "finger_midpoint": [ + 0.24325376928632136, + 0.25222410950348484, + 1.156976070173301 + ], + "object_minus_finger_midpoint": [ + 0.005306554386884765, + 0.011924275684677854, + 0.0 + ], + "finger_gap": 0.026103476401825573, + "fingertip_max_gap": 0.09037954876390975, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01305173820091276, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156976070173301, + "object_top_z": 1.202439409882228, + "finger_top_clearance": 0.04546333970892702, + "fingertip_min_top_clearance": 0.013639001912678106, + "object_projection_between_fingers": 0.834694032568804, + "object_to_finger_line_xy": 0.009696305039358736, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047689774381954875, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.534654543788076, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2777209119349088, + -0.35653174471402077, + 0.8470188430911152 + ], + "target_position": [ + 0.27091136865227244, + -0.35686275581316146, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006817583741022322, + "xy_threshold": 0.08, + "gripper_dist": 0.18585522201732874, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470188430911152, + "min_z": 0.5730800627579278, + "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": 0.07531882142283264, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522947127276366, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15446417367513735, + "release_required_pad_clearance": 0.05261473563638183, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2907394899851104, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007878482341766357, + "max_z_decrease": 0.007878482341766357, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514997061156258, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007878482341766357, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02108560257570755, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007878482341766357, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007878509536995279, + "max_button_displacement": 0.12, + "button_start": [ + 0.12661129236221313, + -0.41312420368194575, + 0.7768088579177856 + ], + "button_final": [ + 0.12661129236221313, + -0.41312420368194575, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12835170588847203, + -0.4126305946169064, + 0.807613509126204 + ], + "closest_button": [ + 0.12659987807273865, + -0.4131211638450622, + 0.7725106477737427 + ], + "closest_ee_minus_button": [ + 0.001751827815733381, + 0.0004905692281558238, + 0.03510286135246132 + ], + "button_min_z_position": [ + 0.126590758562088, + -0.41312158107757563, + 0.7689303755760193 + ], + "min_active_finger_to_button": 0.14445044758224468, + "closest_active_finger": [ + 0.001227349042892456, + -0.47609978914260864, + 0.8108616471290588 + ], + "closest_active_finger_button": [ + 0.12661109864711761, + -0.4131235480308532, + 0.7765274047851562 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12538374960422516, + -0.06297624111175543, + 0.03433424234390259 + ], + "min_contact_pad_to_button": 0.02108560257570755, + "closest_contact_pad": [ + 0.126590758562088, + -0.4136381058487915, + 0.7900096506617855 + ], + "closest_contact_pad_button": [ + 0.126590758562088, + -0.41312158107757563, + 0.7689303755760193 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005165247712158871, + 0.021079275085766236 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5b287f4f09bc81db3231b77f835be5008a004157faf09e2bca32e3f721cf4632", + "visual_seed": 1903558538863006243, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bf56263a80ead6476bedfec768f13bf8b19b5bd4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "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": [ + 0.24139404102670495, + 0.26083998415758386, + 1.1559131043813917 + ], + "current_z": 1.1559131043813917, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.29932659697282615, + "gripper_z": 1.1490256134029044, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2367725292292646, + 0.2560860563054282, + 1.1490256134029044 + ], + "object_minus_gripper": [ + 0.0046215117974403586, + 0.0047539278521556705, + 0.006887490978487287 + ], + "object_to_gripper_xy": 0.0066300981378394274, + "object_to_gripper_z": 0.006887490978487287, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24139404102670495, + 0.2371480856210162, + 1.1559131043813917 + ], + "finger_b": [ + 0.23043480879853823, + 0.26083998415758386, + 1.1559131043813917 + ], + "finger_midpoint": [ + 0.2359144249126216, + 0.24899403488930003, + 1.1559131043813917 + ], + "object_minus_finger_midpoint": [ + 0.005479616114083347, + 0.011845949268283834, + 0.0 + ], + "finger_gap": 0.02610384698273236, + "fingertip_max_gap": 0.09012027585487906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013051923491366173, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1559131043813917, + "object_top_z": 1.2013183715639015, + "finger_top_clearance": 0.04540526718250981, + "fingertip_min_top_clearance": 0.01362158015475291, + "object_projection_between_fingers": 0.8237410293183093, + "object_to_finger_line_xy": 0.009946618908705771, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04756013792743953, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.352241227626839, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27307018018322177, + -0.3595564274803214, + 0.8470190306789411 + ], + "target_position": [ + 0.2668061849479192, + -0.3596584232612618, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006264825571971101, + "xy_threshold": 0.08, + "gripper_dist": 0.18475486126159002, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470190306789411, + "min_z": 0.5730800627579278, + "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": 0.07585313142858709, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598541946071912, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15202175225517348, + "release_required_pad_clearance": 0.05299270973035956, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0164368161309276, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0077323317527771, + "max_z_decrease": 0.0077323317527771, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516204125488681, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0077323317527771, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02107929863208257, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0077323317527771, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007732353216093931, + "max_button_displacement": 0.12, + "button_start": [ + 0.12250611186027523, + -0.41591987013816833, + 0.7768088579177856 + ], + "button_final": [ + 0.12250611186027523, + -0.41591987013816833, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12409172253987924, + -0.4147767395521394, + 0.8079337441612231 + ], + "closest_button": [ + 0.12250004708766933, + -0.4159168601036071, + 0.7728262543678284 + ], + "closest_ee_minus_button": [ + 0.0015916754522099091, + 0.001140120551467727, + 0.03510748979339473 + ], + "button_min_z_position": [ + 0.12248796969652172, + -0.41591820120811457, + 0.7690765261650085 + ], + "min_active_finger_to_button": 0.14431885332623004, + "closest_active_finger": [ + -0.003995738923549652, + -0.4763179421424866, + 0.8109481334686279 + ], + "closest_active_finger_button": [ + 0.12250676751136776, + -0.41591852903366083, + 0.776641309261322 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1265025064349174, + -0.06039941310882574, + 0.03430682420730591 + ], + "min_contact_pad_to_button": 0.02107929863208257, + "closest_contact_pad": [ + 0.12248796969652172, + -0.4159577582031538, + 0.790155787681121 + ], + "closest_contact_pad_button": [ + 0.12248796969652172, + -0.41591820120811457, + 0.7690765261650085 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -3.955699503921384e-05, + 0.021079261516112502 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2e3a46d0afdfa026474851fa966c181ab113ad6b22edecd3286f5392e1a173a4", + "visual_seed": 7255841516332110334, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7729d17c435718972223ef8c3db3bf73359ad814 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "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": [ + 0.25061447311630575, + 0.268535924199887, + 1.1589457404539525 + ], + "current_z": 1.1589457404539525, + "required_z": 0.8565865805159724, + "initial_z": 0.7565865805159724, + "lift_margin": 0.3023591599379801, + "gripper_z": 1.1520499945355527, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24597581613641645, + 0.2639011393147136, + 1.1520499945355527 + ], + "object_minus_gripper": [ + 0.0046386569798893, + 0.004634784885173382, + 0.006895745918399809 + ], + "object_to_gripper_xy": 0.006557314199343155, + "object_to_gripper_z": 0.006895745918399809, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25061447311630575, + 0.24456245890053507, + 1.1589457404539525 + ], + "finger_b": [ + 0.24017200175957318, + 0.268535924199887, + 1.1589457404539525 + ], + "finger_midpoint": [ + 0.24539323743793945, + 0.25654919155021105, + 1.1589457404539525 + ], + "object_minus_finger_midpoint": [ + 0.005221235678366298, + 0.011986732649675924, + 0.0 + ], + "finger_gap": 0.02614903911227734, + "fingertip_max_gap": 0.09046878114136378, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013074519556138649, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1589457404539525, + "object_top_z": 1.204424478582604, + "finger_top_clearance": 0.04547873812865144, + "fingertip_min_top_clearance": 0.013643621438595432, + "object_projection_between_fingers": 0.8405240800645567, + "object_to_finger_line_xy": 0.009573668219134109, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773439057068189, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5677851381707976, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27916768205031955, + -0.3589576577797774, + 0.847019544168184 + ], + "target_position": [ + 0.2724760928736338, + -0.3593502086461652, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006703093456922707, + "xy_threshold": 0.08, + "gripper_dist": 0.1862764662147021, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019544168184, + "min_z": 0.5730800627579278, + "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": 0.07566752688024386, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554924980485114, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15383005920388068, + "release_required_pad_clearance": 0.05277462490242557, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5974141138804879, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007634758949279785, + "max_z_decrease": 0.007634758949279785, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513042974743367, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007634758949279785, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02107632422788419, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007634758949279785, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007634784728236404, + "max_button_displacement": 0.12, + "button_start": [ + 0.12817601859569547, + -0.4156116545200348, + 0.7768088579177856 + ], + "button_final": [ + 0.12817601859569547, + -0.4156116545200348, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12742398795509483, + -0.41412114960215557, + 0.8079546698148788 + ], + "closest_button": [ + 0.12816728651523585, + -0.4156074523925781, + 0.7728635668754578 + ], + "closest_ee_minus_button": [ + -0.0007432985601410202, + 0.0014863027904225556, + 0.03509110293942108 + ], + "button_min_z_position": [ + 0.1281565427780151, + -0.41560786962509155, + 0.7691740989685059 + ], + "min_active_finger_to_button": 0.14620157122250818, + "closest_active_finger": [ + 0.001125425100326538, + -0.47924700379371643, + 0.810770571231842 + ], + "closest_active_finger_button": [ + 0.12817633152008054, + -0.41561028361320496, + 0.7763709425926208 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.127050906419754, + -0.06363672018051147, + 0.03439962863922119 + ], + "min_contact_pad_to_button": 0.02107632422788419, + "closest_contact_pad": [ + 0.1281565427780151, + -0.41560786962509155, + 0.79025042319639 + ], + "closest_contact_pad_button": [ + 0.1281565427780151, + -0.41560786962509155, + 0.7691740989685059 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02107632422788419 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aee5c1059df54f5ee4386894c1fa7c2ed5eededc8a92967ba85e656e68254baa", + "visual_seed": 8200527590601959863, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..92f315929cad096c730c610ee3994c7f14af1bc7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "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": [ + 0.2506021872424692, + 0.2675406220079555, + 1.1561774580424953 + ], + "current_z": 1.1561774580424953, + "required_z": 0.8565865263327254, + "initial_z": 0.7565865263327254, + "lift_margin": 0.2995909317097699, + "gripper_z": 1.1492618165206898, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24594205586295523, + 0.2626989820074934, + 1.1492618165206898 + ], + "object_minus_gripper": [ + 0.00466013137951396, + 0.004841640000462055, + 0.00691564152180546 + ], + "object_to_gripper_xy": 0.006719992735740485, + "object_to_gripper_z": 0.00691564152180546, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2506021872424692, + 0.24388237016874045, + 1.1561774580424953 + ], + "finger_b": [ + 0.23943540576288727, + 0.2675406220079555, + 1.1561774580424953 + ], + "finger_midpoint": [ + 0.24501879650267822, + 0.255711496088348, + 1.1561774580424953 + ], + "object_minus_finger_midpoint": [ + 0.005583390739790972, + 0.011829125919607497, + 0.0 + ], + "finger_gap": 0.02616122873070863, + "fingertip_max_gap": 0.0902252509429129, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013080614365354308, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1561774580424953, + "object_top_z": 1.2016795841730712, + "finger_top_clearance": 0.045502126130575915, + "fingertip_min_top_clearance": 0.013650637839172775, + "object_projection_between_fingers": 0.8178036134902928, + "object_to_finger_line_xy": 0.010098399092674225, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04761262547145645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3780597369891379, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2803856195892771, + -0.3563871625598176, + 0.8470195089268151 + ], + "target_position": [ + 0.2737496355485771, + -0.35670646242227566, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006643661384401721, + "xy_threshold": 0.08, + "gripper_dist": 0.18750532341758558, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195089268151, + "min_z": 0.5730800627579278, + "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": 0.07553202378187589, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336888, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1553508378451971, + "release_required_pad_clearance": 0.052461859836684444, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "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": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007677257061004639, + "max_z_decrease": 0.007677257061004639, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035167480403674144, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007677257061004639, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02107979044726857, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007677257061004639, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007677279516429271, + "max_button_displacement": 0.12, + "button_start": [ + 0.12944956123828888, + -0.4129679203033447, + 0.7768088579177856 + ], + "button_final": [ + 0.12944956123828888, + -0.4129679203033447, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13135961833651222, + -0.4120813185007494, + 0.8079410317646628 + ], + "closest_button": [ + 0.1294395625591278, + -0.4129640460014343, + 0.7728371024131775 + ], + "closest_ee_minus_button": [ + 0.0019200557773844107, + 0.00088272750068491, + 0.03510392935148532 + ], + "button_min_z_position": [ + 0.1294311136007309, + -0.4129658043384552, + 0.769131600856781 + ], + "min_active_finger_to_button": 0.14414815765568564, + "closest_active_finger": [ + 0.004974551498889923, + -0.4770304560661316, + 0.8107019662857056 + ], + "closest_active_finger_button": [ + 0.12944954633712769, + -0.41296663880348206, + 0.7763436436653137 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12447499483823776, + -0.06406381726264954, + 0.034358322620391846 + ], + "min_contact_pad_to_button": 0.02107979044726857, + "closest_contact_pad": [ + 0.1294311136007309, + -0.4129748663623418, + 0.7902113893562057 + ], + "closest_contact_pad_button": [ + 0.1294311136007309, + -0.4129658043384552, + 0.769131600856781 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -9.06202388661903e-06, + 0.021079788499424712 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c87b990a96ec51c8ab387a87a34c9ffa514e44de9adc5815d1a4a0dd61e2af41", + "visual_seed": 7088894247126617729, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed6018119d2083633c8656e109f151e03267557 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "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": [ + 0.24768275277034757, + 0.2653880843814494, + 1.1579247593488322 + ], + "current_z": 1.1579247593488322, + "required_z": 0.8565867847744851, + "initial_z": 0.7565867847744852, + "lift_margin": 0.3013379745743471, + "gripper_z": 1.150989764648216, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24307405101956095, + 0.26071626180623536, + 1.150989764648216 + ], + "object_minus_gripper": [ + 0.00460870175078662, + 0.004671822575214035, + 0.006934994700616315 + ], + "object_to_gripper_xy": 0.006562473466764126, + "object_to_gripper_z": 0.006934994700616315, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24768275277034757, + 0.24155274159930631, + 1.1579247593488322 + ], + "finger_b": [ + 0.2370373072875568, + 0.2653880843814494, + 1.1579247593488322 + ], + "finger_midpoint": [ + 0.24236003002895218, + 0.25347041299037787, + 1.1579247593488322 + ], + "object_minus_finger_midpoint": [ + 0.0053227227413953915, + 0.011917671391071527, + 0.0 + ], + "finger_gap": 0.026104579580397975, + "fingertip_max_gap": 0.09051964467814466, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013052289790198976, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1579247593488322, + "object_top_z": 1.2033860392310982, + "finger_top_clearance": 0.045461279882266004, + "fingertip_min_top_clearance": 0.0136383839646798, + "object_projection_between_fingers": 0.8336992246771472, + "object_to_finger_line_xy": 0.009720050896413129, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775982233907233, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5015654213344819, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2778537845218799, + -0.35699808222371054, + 0.8470195854076008 + ], + "target_position": [ + 0.271015719156542, + -0.35746353014693494, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006853887926561688, + "xy_threshold": 0.08, + "gripper_dist": 0.18576208017178972, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195854076008, + "min_z": 0.5730800627579278, + "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": 0.07582965864563516, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863154701296756, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15326119737732624, + "release_required_pad_clearance": 0.0531577350648378, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3399600769796, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00782090425491333, + "max_z_decrease": 0.00782090425491333, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509174458279598, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00782090425491333, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02107922473836596, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00782090425491333, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007820927679919747, + "max_button_displacement": 0.12, + "button_start": [ + 0.12671564519405365, + -0.41372498869895935, + 0.7768088579177856 + ], + "button_final": [ + 0.12671564519405365, + -0.41372498869895935, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12621997640707122, + -0.4133835485239594, + 0.8076456266548503 + ], + "closest_button": [ + 0.12670592963695526, + -0.4137208163738251, + 0.772558867931366 + ], + "closest_ee_minus_button": [ + -0.00048595322988403966, + 0.0003372678498656523, + 0.035086758723484324 + ], + "button_min_z_position": [ + 0.1266968995332718, + -0.41372111439704895, + 0.7689879536628723 + ], + "min_active_finger_to_button": 0.14647957004044848, + "closest_active_finger": [ + -0.0002881288528442383, + -0.4780935049057007, + 0.8109803199768066 + ], + "closest_active_finger_button": [ + 0.12671592831611633, + -0.41372400522232056, + 0.7765884399414062 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12700405716896057, + -0.06436949968338013, + 0.03439188003540039 + ], + "min_contact_pad_to_button": 0.02107922473836596, + "closest_contact_pad": [ + 0.1266968995332718, + -0.4143466872408249, + 0.7900578937241935 + ], + "closest_contact_pad_button": [ + 0.1266968995332718, + -0.41372111439704895, + 0.7689879536628723 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006255728437759567, + 0.021069940061321235 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "26e6b42ffc33de07f0fef2b44ea65b118929242455e9fb689c1cf2f0a7ac9b50", + "visual_seed": 8601865100591583417, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..70f7c55cd5555b968401e66602ea0eaa4588bcd7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "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": [ + 0.24748221647585097, + 0.2590362777642059, + 1.1565967006153943 + ], + "current_z": 1.1565967006153943, + "required_z": 0.8565866804005049, + "initial_z": 0.7565866804005049, + "lift_margin": 0.30001002021488943, + "gripper_z": 1.1496624263923902, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24284540965042123, + 0.2542322558940901, + 1.1496624263923902 + ], + "object_minus_gripper": [ + 0.004636806825429746, + 0.004804021870115804, + 0.006934274223004078 + ], + "object_to_gripper_xy": 0.006676721026439762, + "object_to_gripper_z": 0.006934274223004078, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24748221647585097, + 0.23537110243810555, + 1.1565967006153943 + ], + "finger_b": [ + 0.23640174654584453, + 0.2590362777642059, + 1.1565967006153943 + ], + "finger_midpoint": [ + 0.24194198151084775, + 0.24720369010115573, + 1.1565967006153943 + ], + "object_minus_finger_midpoint": [ + 0.005540234965003221, + 0.011832587663050176, + 0.0 + ], + "finger_gap": 0.026130773755953837, + "fingertip_max_gap": 0.09029187394933919, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013065386877976919, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1565967006153943, + "object_top_z": 1.2020814822182295, + "finger_top_clearance": 0.0454847816028352, + "fingertip_min_top_clearance": 0.013645434480850526, + "object_projection_between_fingers": 0.8201908369902433, + "object_to_finger_line_xy": 0.01003495977724116, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047645936974669595, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3282716597920676, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28051411234486046, + -0.3537907671163223, + 0.8470197129489412 + ], + "target_position": [ + 0.2737907900659618, + -0.35408708061076616, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006729848746660253, + "xy_threshold": 0.08, + "gripper_dist": 0.18701400323896447, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197129489412, + "min_z": 0.5730800627579278, + "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": 0.07566353842177881, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557274049613618, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15457575667629014, + "release_required_pad_clearance": 0.05278637024806809, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6205485408959873, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0075800418853759766, + "max_z_decrease": 0.0075800418853759766, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03520139395730367, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0075800418853759766, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021282345335794154, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0075800418853759766, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007580063613212109, + "max_button_displacement": 0.12, + "button_start": [ + 0.12949071824550626, + -0.41034853458404535, + 0.7768088579177856 + ], + "button_final": [ + 0.12949071824550626, + -0.41034853458404535, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13101104998737795, + -0.4123888079055391, + 0.8079524509594503 + ], + "closest_button": [ + 0.1294797658920288, + -0.41034567356109614, + 0.7728437781333923 + ], + "closest_ee_minus_button": [ + 0.0015312840953491391, + -0.002043134344442976, + 0.03510867282605801 + ], + "button_min_z_position": [ + 0.12947264313697812, + -0.41034689545631403, + 0.7692288160324097 + ], + "min_active_finger_to_button": 0.14451029293503526, + "closest_active_finger": [ + -0.0102480947971344, + -0.3971739113330841, + 0.8108181357383728 + ], + "closest_active_finger_button": [ + 0.1294905990362167, + -0.41034772992134094, + 0.7764266729354858 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1397386938333511, + 0.013173818588256836, + 0.03439146280288696 + ], + "min_contact_pad_to_button": 0.021282345335794154, + "closest_contact_pad": [ + 0.12947264313697812, + -0.4133567600026364, + 0.7902972506777456 + ], + "closest_contact_pad_button": [ + 0.12947264313697812, + -0.41034689545631403, + 0.7692288160324097 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030098645463223495, + 0.02106843464533592 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "20e98c14b168a580ff0a15469ed48e5a21441f6e58b55491acae7a037983ba4e", + "visual_seed": 8325128189116750155, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ff36c5c620ed99698681aefbddc648d9ad3c28a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "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": [ + 0.25066751352524036, + 0.2624491949134847, + 1.1561594956992962 + ], + "current_z": 1.1561594956992962, + "required_z": 0.8565866289157391, + "initial_z": 0.7565866289157391, + "lift_margin": 0.2995728667835571, + "gripper_z": 1.1492431914746175, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2460834284545075, + 0.2577510793218363, + 1.1492431914746175 + ], + "object_minus_gripper": [ + 0.004584085070732852, + 0.0046981155916484, + 0.006916304224678704 + ], + "object_to_gripper_xy": 0.006564002288863526, + "object_to_gripper_z": 0.006916304224678704, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25066751352524036, + 0.23868365113718495, + 1.1561594956992962 + ], + "finger_b": [ + 0.23991212984163687, + 0.2624491949134847, + 1.1561594956992962 + ], + "finger_midpoint": [ + 0.2452898216834386, + 0.25056642302533483, + 1.1561594956992962 + ], + "object_minus_finger_midpoint": [ + 0.005377691841801757, + 0.011882771888149846, + 0.0 + ], + "finger_gap": 0.026085999102291296, + "fingertip_max_gap": 0.09046924282440663, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013042999551145643, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1561594956992962, + "object_top_z": 1.2016373066185335, + "finger_top_clearance": 0.045477810919237305, + "fingertip_min_top_clearance": 0.013643343275771158, + "object_projection_between_fingers": 0.8300047189918196, + "object_to_finger_line_xy": 0.009798648721916376, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773462141220332, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5278271026121837, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2723068297519065, + -0.35955922137056756, + 0.8470204561714154 + ], + "target_position": [ + 0.266183615335563, + -0.3594295200257659, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006124587923065541, + "xy_threshold": 0.08, + "gripper_dist": 0.18709895590280165, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470204561714154, + "min_z": 0.5730800627579278, + "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": 0.07554432908134169, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850322956022866, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15490025802984572, + "release_required_pad_clearance": 0.052516147801143304, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.09681644663295677, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007854580879211426, + "max_z_decrease": 0.007854580879211426, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351079846813372, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007854580879211426, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021198080957796368, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007854580879211426, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007854601773639313, + "max_button_displacement": 0.12, + "button_start": [ + 0.12188354134559631, + -0.41569098830223083, + 0.7768088579177856 + ], + "button_final": [ + 0.12188354134559631, + -0.41569098830223083, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12213214628343422, + -0.4168508294591339, + 0.8074743888535297 + ], + "closest_button": [ + 0.12187324464321136, + -0.4156865477561951, + 0.7723866701126099 + ], + "closest_ee_minus_button": [ + 0.0002589016402228528, + -0.001164281702938752, + 0.03508771874091987 + ], + "button_min_z_position": [ + 0.12186578661203386, + -0.4156873822212219, + 0.7689542770385742 + ], + "min_active_finger_to_button": 0.14583727384212658, + "closest_active_finger": [ + -0.01908320188522339, + -0.4012490510940552, + 0.8110122680664062 + ], + "closest_active_finger_button": [ + 0.12188421189785005, + -0.41568985581398016, + 0.7765425443649292 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14096741378307343, + 0.014440804719924982, + 0.03446972370147705 + ], + "min_contact_pad_to_button": 0.021198080957796368, + "closest_contact_pad": [ + 0.12186578661203386, + -0.4179257189962728, + 0.7900338521001058 + ], + "closest_contact_pad_button": [ + 0.12186578661203386, + -0.4156873822212219, + 0.7689542770385742 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022383367750508643, + 0.021079575061531575 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6c6de0692abedb57cbf79ce566badd286afd73d047600a6b03a61f8b03378166", + "visual_seed": 8592224599097510872, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1e18fd058f696d149c575b09d8aa0a064aad1258 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "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": [ + 0.24856416399940012, + 0.26370710852288, + 1.1556762101207314 + ], + "current_z": 1.1556762101207314, + "required_z": 0.856586592416794, + "initial_z": 0.756586592416794, + "lift_margin": 0.2990896177039374, + "gripper_z": 1.1487409596726426, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24397376231628243, + 0.2590575622628028, + 1.1487409596726426 + ], + "object_minus_gripper": [ + 0.004590401683117695, + 0.004649546260077186, + 0.006935250448088848 + ], + "object_to_gripper_xy": 0.006533763696137741, + "object_to_gripper_z": 0.006935250448088848, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24856416399940012, + 0.23974243016637317, + 1.1556762101207314 + ], + "finger_b": [ + 0.23813690545730906, + 0.26370710852288, + 1.1556762101207314 + ], + "finger_midpoint": [ + 0.2433505347283546, + 0.25172476934462656, + 1.1556762101207314 + ], + "object_minus_finger_midpoint": [ + 0.005213629271045517, + 0.01198233917825342, + 0.0 + ], + "finger_gap": 0.026134910166947908, + "fingertip_max_gap": 0.09060857155379765, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01306745508347396, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1556762101207314, + "object_top_z": 1.2011622157698136, + "finger_top_clearance": 0.04548600564908223, + "fingertip_min_top_clearance": 0.013645801694724667, + "object_projection_between_fingers": 0.8408164225940133, + "object_to_finger_line_xy": 0.00956138343331192, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047804285776898825, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.565929245290558, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2828211881042567, + -0.35421209808213633, + 0.8470199360982478 + ], + "target_position": [ + 0.276099130867693, + -0.3544658431496854, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006726844732186413, + "xy_threshold": 0.08, + "gripper_dist": 0.18582492890582042, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199360982478, + "min_z": 0.5730800627579278, + "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": 0.07524376637062534, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856550935190563, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15446314586690232, + "release_required_pad_clearance": 0.05282754675952815, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6977303055660377, + "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": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074974894523620605, + "max_z_decrease": 0.0074974894523620605, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035120334780239244, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074974894523620605, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021134643264749623, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074974894523620605, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007497516289688923, + "max_button_displacement": 0.12, + "button_start": [ + 0.1317990571260452, + -0.41072729229927063, + 0.7768088579177856 + ], + "button_final": [ + 0.1317990571260452, + -0.41072729229927063, + 0.7768088579177856 + ], + "closest_ee": [ + 0.131711285465867, + -0.4114252287866628, + 0.8082806158485863 + ], + "closest_button": [ + 0.13179340958595276, + -0.410727322101593, + 0.7731673121452332 + ], + "closest_ee_minus_button": [ + -8.212412008576364e-05, + -0.0006979066850698046, + 0.035113303703353194 + ], + "button_min_z_position": [ + 0.1317792236804962, + -0.4107242822647095, + 0.7693113684654236 + ], + "min_active_finger_to_button": 0.14619708120014036, + "closest_active_finger": [ + -0.009419314563274384, + -0.39484915137290955, + 0.8107959628105164 + ], + "closest_active_finger_button": [ + 0.1317990124225616, + -0.4107273817062378, + 0.7764615416526794 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14121832698583597, + 0.015878230333328247, + 0.034334421157836914 + ], + "min_contact_pad_to_button": 0.021134643264749623, + "closest_contact_pad": [ + 0.1317792236804962, + -0.41256151386051504, + 0.790366005151712 + ], + "closest_contact_pad_button": [ + 0.1317792236804962, + -0.4107242822647095, + 0.7693113684654236 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018372315958055663, + 0.021054636686288375 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0d0a8ec5b981b3443b07b58e00a96cfea9d0ac82555abca4b53b6e9aff0f82f", + "visual_seed": 8766798250280184095, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6df700280173ebf08d89fdfd4f411a5a98772948 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "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": [ + 0.24190384904923895, + 0.26961645798500666, + 1.1547524932792663 + ], + "current_z": 1.1547524932792663, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.298165926266056, + "gripper_z": 1.1480656837642493, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2372138795004277, + 0.26501642606919085, + 1.1480656837642493 + ], + "object_minus_gripper": [ + 0.0046899695488112625, + 0.0046000319158158165, + 0.006686809515016989 + ], + "object_to_gripper_xy": 0.006569330863588851, + "object_to_gripper_z": 0.006686809515016989, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24190384904923895, + 0.2456205520745545, + 1.1547524932792663 + ], + "finger_b": [ + 0.2315100523565222, + 0.26961645798500666, + 1.1547524932792663 + ], + "finger_midpoint": [ + 0.23670695070288056, + 0.25761850502978056, + 1.1547524932792663 + ], + "object_minus_finger_midpoint": [ + 0.005196898346358392, + 0.011997952955226099, + 0.0 + ], + "finger_gap": 0.02615022963862465, + "fingertip_max_gap": 0.09051255708661504, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013075114819312342, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1547524932792663, + "object_top_z": 1.2002507993340936, + "finger_top_clearance": 0.0454983060548273, + "fingertip_min_top_clearance": 0.013649491816448223, + "object_projection_between_fingers": 0.8420217054190638, + "object_to_finger_line_xy": 0.00953752876886469, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775627854330752, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7195316127154944, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2780193747249217, + -0.3586530642508586, + 0.8470195968543124 + ], + "target_position": [ + 0.2717888362911504, + -0.3587757793670475, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006231746799609451, + "xy_threshold": 0.08, + "gripper_dist": 0.1856620606993154, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195968543124, + "min_z": 0.5730800627579278, + "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": 0.07582819373605228, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08621388999556893, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15286073560261673, + "release_required_pad_clearance": 0.05310694499778447, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.240470750856694, + "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": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00766754150390625, + "max_z_decrease": 0.00766754150390625, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511239154198736, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00766754150390625, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02110310782348066, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00766754150390625, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007667560721213816, + "max_button_displacement": 0.12, + "button_start": [ + 0.12748876214027405, + -0.41503724455833435, + 0.7768088579177856 + ], + "button_final": [ + 0.12748876214027405, + -0.41503724455833435, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12596444875054053, + -0.41558324783897643, + 0.8070109796329583 + ], + "closest_button": [ + 0.1274770349264145, + -0.4150314927101135, + 0.7719355225563049 + ], + "closest_ee_minus_button": [ + -0.0015125861758739645, + -0.0005517551288629075, + 0.03507545707665338 + ], + "button_min_z_position": [ + 0.12747210264205933, + -0.41503310203552246, + 0.7691413164138794 + ], + "min_active_finger_to_button": 0.14752392371005263, + "closest_active_finger": [ + -0.015368320047855377, + -0.40224331617355347, + 0.8108269572257996 + ], + "closest_active_finger_button": [ + 0.12748989462852478, + -0.4150378406047821, + 0.7763140797615051 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14285821467638016, + 0.012794524431228638, + 0.034512877464294434 + ], + "min_contact_pad_to_button": 0.02110310782348066, + "closest_contact_pad": [ + 0.12747210264205933, + -0.41648588002324355, + 0.7901943588526302 + ], + "closest_contact_pad_button": [ + 0.12747210264205933, + -0.41503310203552246, + 0.7691413164138794 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014527779877210878, + 0.021053042438750835 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "af32ef20fda5f01656de54c9cdabbebd1e1169b7f11a4464497893f28d866cf9", + "visual_seed": 1255456553826636318, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ca9bab1dd8b5f6406209c98068a724d417cfe72 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00054/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "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": [ + 0.24768216108156668, + 0.2672338728927571, + 1.1568330438307153 + ], + "current_z": 1.1568330438307153, + "required_z": 0.8565865766578341, + "initial_z": 0.7565865766578341, + "lift_margin": 0.30024646717288117, + "gripper_z": 1.149913303309995, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24309797785862838, + 0.2625424362771913, + 1.149913303309995 + ], + "object_minus_gripper": [ + 0.004584183222938298, + 0.004691436615565758, + 0.006919740520720197 + ], + "object_to_gripper_xy": 0.006559292137063272, + "object_to_gripper_z": 0.006919740520720197, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24768216108156668, + 0.2433847762323301, + 1.1568330438307153 + ], + "finger_b": [ + 0.23704147654683094, + 0.2672338728927571, + 1.1568330438307153 + ], + "finger_midpoint": [ + 0.24236181881419883, + 0.25530932456254357, + 1.1568330438307153 + ], + "object_minus_finger_midpoint": [ + 0.005320342267367856, + 0.011924548330213502, + 0.0 + ], + "finger_gap": 0.02611519823562811, + "fingertip_max_gap": 0.09044051887767582, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013057599117814062, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1568330438307153, + "object_top_z": 1.2023179981980265, + "finger_top_clearance": 0.04548495436731126, + "fingertip_min_top_clearance": 0.013645486310193378, + "object_projection_between_fingers": 0.8339830304810397, + "object_to_finger_line_xy": 0.009717357368392932, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772025943883791, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5403688731306824, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "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/target_beaker/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/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27985753996961893, + -0.3543081481829358, + 0.8470194966827702 + ], + "target_position": [ + 0.27292503790128514, + -0.35457404354359323, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006937599388136462, + "xy_threshold": 0.08, + "gripper_dist": 0.18463751400562115, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194966827702, + "min_z": 0.5730800627579278, + "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": 0.07518083522637428, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08555563109618948, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535154022802514, + "release_required_pad_clearance": 0.05277781554809474, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6026310749426788, + "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": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0076901912689208984, + "max_z_decrease": 0.0076901912689208984, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512591515437873, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0076901912689208984, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021066335850209655, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0076901912689208984, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007690214420329459, + "max_button_displacement": 0.12, + "button_start": [ + 0.12862496078014374, + -0.41083550453186035, + 0.7768088579177856 + ], + "button_final": [ + 0.12862496078014374, + -0.41083550453186035, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12829364033124674, + -0.4097409171405134, + 0.8079370347373646 + ], + "closest_button": [ + 0.12861721217632294, + -0.410834938287735, + 0.7728296518325806 + ], + "closest_ee_minus_button": [ + -0.0003235718450761982, + 0.0010940211472215688, + 0.03510738290478399 + ], + "button_min_z_position": [ + 0.1286061406135559, + -0.41083413362503046, + 0.7691186666488647 + ], + "min_active_finger_to_button": 0.14600197603518725, + "closest_active_finger": [ + 0.0003437846899032593, + -0.4715471565723419, + 0.8109015822410583 + ], + "closest_active_finger_button": [ + 0.12862534821033478, + -0.4108351767063141, + 0.7766309976577759 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12828156352043152, + -0.06071197986602783, + 0.03427058458328247 + ], + "min_contact_pad_to_button": 0.021066335850209655, + "closest_contact_pad": [ + 0.1286061406135559, + -0.41088462174786544, + 0.79018494199842 + ], + "closest_contact_pad_button": [ + 0.1286061406135559, + -0.41083413362503046, + 0.7691186666488647 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -5.048812283497961e-05, + 0.021066275349555297 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "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, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 8865105015247510022, + "physical_seed": 6244495164923859807, + "layout_id": "layout_00054", + "step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "workflow_spec_digest": "4f9c25f00eed082264a2d62eeb61c6280086a7a0e5dd7b81fc64db5b1e29437f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "20fcdd6de75c444eda4ff3a9b5dd99d9892e973df5f2604853842c6cb1bfe287", + "visual_seed": 5822906724828857365, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 9092373221738194413, + 5718852617331806488, + 5334696411964519894 + ], + "runtime_workflow_digest": "1070ed34d9c4301c7f4490b133a58351aab35a5914b4356b888ccf70b2249d71" + } +} \ No newline at end of file