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aporating_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_23","position":[0.38780671029113467,-1.1483303496295005,0.71338606911949],"aabb_xy":[[0.3278067104445679,-1.2051489718225392],[0.44780671013770146,-1.0915117274364619]]},{"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":[0.4460459811714321,0.669443899303277,0.71338606911949],"aabb_xy":[[0.4309436797104139,0.654342377672215],[0.4611482826324501,0.6845454209343387]]},{"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_25","position":[0.17062139663679887,-2.129698791697734,0.71338606911949],"aabb_xy":[[0.11562914600128793,-2.1846987934410467],[0.22561364727230984,-2.074698789954421]]},{"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_26","position":[-0.4431771218293108,1.7429792479195787,0.71338606911949],"aabb_xy":[[-0.4983023274589016,1.6829792464782916],[-0.38805191619972,1.8029792493608658]]},{"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_27","position":[-0.33693912585023283,1.0194986365796415,0.71338606911949],"aabb_xy":[[-0.3725682817501926,0.9838659698227885],[-0.3013099699502731,1.0551313033364944]]},{"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_28","position":[-0.04717308404030296,1.1293780165544,0.71338606911949],"aabb_xy":[[-0.08467308438853072,1.1175866209733165],[-0.009673083692075202,1.1411694121354836]]},{"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_29","position":[-0.17910464808611448,1.1118200250785986,0.71338606911949],"aabb_xy":[[-0.18721830275949158,1.1037142086245693],[-0.17099099341273738,1.1199258415326274]]},{"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_30","position":[-0.441412359632902,-2.292760044984878,0.71338606911949],"aabb_xy":[[-0.47891235944993554,-2.2973982562960193],[-0.4039123598158684,-2.2881218336737357]]},{"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_31","position":[-0.12032836262381319,-0.6729598140093453,0.71338606911949],"aabb_xy":[[-0.13157341819443102,-0.6842016117334406],[-0.10908330705319536,-0.6617180162852501]]},{"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":[0.010062020527520144,-2.2925226572933393,0.71338606911949],"aabb_xy":[[0.0012807933802839162,-2.3013024045818704],[0.01884324767475637,-2.28374291000481]]},{"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":[0.3627664479745596,-0.930201903929833,0.71338606911949],"aabb_xy":[[0.28276644690143926,-0.9399799502672174],[0.4427664490476799,-0.9204238575924485]]},{"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_34","position":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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00044/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00044/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3edad3187fd39a3bda828dfaca5a7ee34f74e13b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00044/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_htd_00044 +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_00044 + reproducibility: + enabled: true + layout_id: layout_00044 + action_seed: 5358938913577810655 + step_seeds: + - 265478931092757752 + - 7592499810090824345 + - 6216449485170664052 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2651 + - 0.2651 + 'y': + - 0.1681 + - 0.1681 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3357 + - 0.3357 + 'y': + - -0.0614 + - -0.0614 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3473 + - 0.3473 + 'y': + - 0.3261 + - 0.3261 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2642 + - 0.2642 + 'y': + - -0.3303 + - -0.3303 + 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_00044 +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_00044/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00044/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5845757a9ce0292a1804e07f6a69c067a7f79d80 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00044/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, 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0.007353508023801038, + "object_to_gripper_z": 0.006919654706799561, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3640265158420511, + -0.08560360028246426, + 1.1601423625575153 + ], + "finger_b": [ + 0.3529408672050417, + -0.061113788598773346, + 1.1601423625575153 + ], + "finger_midpoint": [ + 0.3584836915235464, + -0.07335869444061881, + 1.1601423625575153 + ], + "object_minus_finger_midpoint": [ + 0.005542824318504669, + 0.012244905841845462, + 0.0 + ], + "finger_gap": 0.02688201037879928, + "fingertip_max_gap": 0.09329124981050732, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013441005189399632, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1601423625575153, + "object_top_z": 1.2063891747955102, + "finger_top_clearance": 0.04624681223799487, + "fingertip_min_top_clearance": 0.013874043671398462, + 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00045/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00045/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..51012b905b1940bc76f3b26984f2f91d3e150b39 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00045/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_htd_00045 +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_00045 + reproducibility: + enabled: true + layout_id: layout_00045 + action_seed: 7079655146366011112 + step_seeds: + - 2329962008323510475 + - 8888706755221216905 + - 44862643261375768 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3302 + - 0.3302 + 'y': + - 0.029 + - 0.029 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1916 + - 0.1916 + 'y': + - 0.16 + - 0.16 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3529 + - 0.3529 + 'y': + - 0.3162 + - 0.3162 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.201 + - 0.201 + 'y': + - -0.3062 + - -0.3062 + 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_00045 +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_00045/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00045/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9aa6f9c00180ea4a39115a20e21df80d52636f60 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00045/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": [ + 0.22104337137621155, + 0.15195044167327004, + 1.1552983758424913 + ], + "current_z": 1.1552983758424913, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2987118684339257, + "gripper_z": 1.149028239452013, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21602032885903247, + 0.14696133143824688, + 1.149028239452013 + ], + "object_minus_gripper": [ + 0.005023042517179083, + 0.004989110235023159, + 0.0062701363904782426 + ], + "object_to_gripper_xy": 0.007079701763958819, + 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