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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00016/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00016/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbd7246743958d6612b0644079157f03ce3e4a5a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00016/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsa_00016 +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: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker a with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00016 + reproducibility: + enabled: true + layout_id: layout_00016 + action_seed: 2891541627295583141 + step_seeds: + - 1164515841808467485 + - 5066845160497422571 + - 1159376154734467498 + - 6013251277256419500 + - 2305731062041435555 + - 7964556701021849271 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3398 + - 0.3398 + 'y': + - 0.0852 + - 0.0852 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3236 + - 0.3236 + 'y': + - -0.1056 + - -0.1056 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2009 + - 0.2009 + 'y': + - -0.3441 + - -0.3441 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2779 + - 0.2779 + 'y': + - 0.3148 + - 0.3148 + 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 + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + 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: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - 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_heatstir_2beaker_s06_plptlr_hsa_00016 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00016/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00016/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2af2fae402360697673bd202bdfb4268007107cf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00016/results/episode_0_success.json @@ -0,0 +1,2002 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3638356309634416, + 0.08084975257318969, + 1.1660273816423725 + ], + "current_z": 1.1660273816423725, + "required_z": 0.861106603901749, + "initial_z": 0.761106603901749, + "lift_margin": 0.30492077774062354, + "gripper_z": 1.1559650249789633, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35868646447882246, + 0.07568149988066918, + 1.1559650249789633 + ], + "object_minus_gripper": [ + 0.005149166484619161, + 0.005168252692520511, + 0.010062356663409266 + ], + "object_to_gripper_xy": 0.007295529547611384, + "object_to_gripper_z": 0.010062356663409266, + 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00023/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00023/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f5c83f344e5cd299e4d061364440e720cc59c511 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00023/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsa_00023 +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: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker a with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00023 + reproducibility: + enabled: true + layout_id: layout_00023 + action_seed: 816907636393322120 + step_seeds: + - 6025886195317364167 + - 912408632159906142 + - 5099940445753200938 + - 3306769215366559685 + - 7335815437279525119 + - 8505066693774525853 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2917 + - 0.2917 + 'y': + - -0.0723 + - -0.0723 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2799 + - 0.2799 + 'y': + - 0.0721 + - 0.0721 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2042 + - 0.2042 + 'y': + - -0.343 + - -0.343 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2892 + - 0.2892 + 'y': + - 0.3166 + - 0.3166 + 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 + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + 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: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - 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_heatstir_2beaker_s06_plptlr_hsa_00023 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00023/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00023/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e10efdd077f289c311a180160cd3e5b8fa0c6779 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00023/results/episode_0_success.json @@ -0,0 +1,2008 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00030/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00030/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e2444accada4aed7d7bf1aaf22f74dd4d2a6fafe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00030/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsa_00030 +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: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker a with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00030 + reproducibility: + enabled: true + layout_id: layout_00030 + action_seed: 6658796726011171620 + step_seeds: + - 3188608099509189937 + - 4949622282959698655 + - 6590206372818194557 + - 3957288070049760871 + - 4471394649374130754 + - 7646082623233218622 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2789 + - 0.2789 + 'y': + - -0.1259 + - -0.1259 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3526 + - 0.3526 + 'y': + - 0.0065 + - 0.0065 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2265 + - 0.2265 + 'y': + - -0.4092 + - -0.4092 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2932 + - 0.2932 + 'y': + - 0.3092 + - 0.3092 + 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 + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + 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: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - 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_heatstir_2beaker_s06_plptlr_hsa_00030 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00030/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00030/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b4086eda2c7176dc39d35c5212b95f710aa019c8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00030/results/episode_0_success.json @@ -0,0 +1,2014 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00032/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00032/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..69b8a7e9cdeab7bd9aea4b64c16bc5914b2ed15a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00032/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsa_00032 +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: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker a with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00032 + reproducibility: + enabled: true + layout_id: layout_00032 + action_seed: 8965520104066671838 + step_seeds: + - 5868908299052723470 + - 1147186024122430536 + - 7048677080094423649 + - 1480185638166204106 + - 3014162407012415582 + - 4167145195996473630 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1803 + - 0.1803 + 'y': + - -0.0925 + - -0.0925 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.285 + - 0.285 + 'y': + - 0.081 + - 0.081 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2185 + - 0.2185 + 'y': + - -0.3137 + - -0.3137 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2942 + - 0.2942 + 'y': + - 0.3 + - 0.3 + 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 + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + 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: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - 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_heatstir_2beaker_s06_plptlr_hsa_00032 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00032/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00032/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd04b37a336fa660df4784dcac7f8b6b1b3aa04 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00032/results/episode_10_success.json @@ -0,0 +1,2014 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 6, + 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00035/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00035/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4b0c1941f5f98b592e57313bc309af4ae2dd2913 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00035/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsa_00035 +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: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker a with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00035 + reproducibility: + enabled: true + layout_id: layout_00035 + action_seed: 8795614797710026623 + step_seeds: + - 3944254798520509588 + - 3028392388710505277 + - 408830198229115201 + - 5506603594016192635 + - 5255127595498083662 + - 5473445184449098552 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2636 + - 0.2636 + 'y': + - -0.1355 + - -0.1355 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2588 + - 0.2588 + 'y': + - 0.0719 + - 0.0719 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2092 + - 0.2092 + 'y': + - -0.3818 + - -0.3818 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2774 + - 0.2774 + 'y': + - 0.2928 + - 0.2928 + 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 + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + 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: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - 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_heatstir_2beaker_s06_plptlr_hsa_00035 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00035/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00035/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1bf5ca4b5755e0ee1c4b1ae2ad31ece05e55b23e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsa_00035/results/episode_0_success.json @@ -0,0 +1,2014 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, 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